From 5d95cc001f36b79a5672c59a1326d66d358cd9b7 Mon Sep 17 00:00:00 2001 From: bazooka joe Date: Mon, 18 Apr 2022 19:14:15 +0300 Subject: [PATCH] small cleanup for FlightTask::_evaluateDistanceToGround if-else --- .../flight_mode_manager/tasks/FlightTask/FlightTask.cpp | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/src/modules/flight_mode_manager/tasks/FlightTask/FlightTask.cpp b/src/modules/flight_mode_manager/tasks/FlightTask/FlightTask.cpp index 3933e931a8..6c00ab39b5 100644 --- a/src/modules/flight_mode_manager/tasks/FlightTask/FlightTask.cpp +++ b/src/modules/flight_mode_manager/tasks/FlightTask/FlightTask.cpp @@ -188,13 +188,15 @@ void FlightTask::_evaluateVehicleLocalPositionSetpoint() void FlightTask::_evaluateDistanceToGround() { // Altitude above ground is local z-position or altitude above home or distance sensor altitude depending on what's available - _dist_to_ground = -_position(2); - if (PX4_ISFINITE(_dist_to_bottom)) { _dist_to_ground = _dist_to_bottom; } else if (_sub_home_position.get().valid_alt) { _dist_to_ground = -(_position(2) - _sub_home_position.get().z); + + } else { + _dist_to_ground = -_position(2); + } }