From 661496ab240b4615f54e02998e846c63017c9f20 Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Mon, 10 Jan 2022 17:31:05 +0100 Subject: [PATCH] FlightTaskOrbit: improved naming in applyCommandParameters() --- .../tasks/Orbit/FlightTaskOrbit.cpp | 15 +++++++-------- 1 file changed, 7 insertions(+), 8 deletions(-) diff --git a/src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.cpp b/src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.cpp index a63d136e7f..db15f460b7 100644 --- a/src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.cpp +++ b/src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.cpp @@ -51,25 +51,24 @@ bool FlightTaskOrbit::applyCommandParameters(const vehicle_command_s &command) { bool ret = true; // save previous velocity and roatation direction - bool is_clockwise = _orbit_velocity > 0; - + bool new_is_clockwise = _orbit_velocity > 0; float new_radius = _orbit_radius; - float new_abs_velocity = fabsf(_orbit_velocity); + float new_absolute_velocity = fabsf(_orbit_velocity); // commanded radius if (PX4_ISFINITE(command.param1)) { // Note: Radius sign is defined as orbit direction in MAVLINK - float radius = command.param1; - is_clockwise = radius > 0; - new_radius = fabsf(radius); + const float radius_parameter = command.param1; + new_is_clockwise = radius_parameter > 0; + new_radius = fabsf(radius_parameter); } // commanded velocity, take sign of radius as rotation direction if (PX4_ISFINITE(command.param2)) { - new_abs_velocity = command.param2; + new_absolute_velocity = command.param2; } - float new_velocity = (is_clockwise ? 1.f : -1.f) * new_abs_velocity; + float new_velocity = (new_is_clockwise ? 1.f : -1.f) * new_absolute_velocity; _sanitizeParams(new_radius, new_velocity); _orbit_radius = new_radius; _orbit_velocity = new_velocity;