From 9fab914687eef00484765e789fbfdd447e98756f Mon Sep 17 00:00:00 2001 From: Thomas Stastny Date: Wed, 13 Jul 2022 11:09:57 +0200 Subject: [PATCH] fw pos ctrl: use max function for landing approach entrance rel alt --- src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp | 6 +----- 1 file changed, 1 insertion(+), 5 deletions(-) diff --git a/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp b/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp index 67314ba6c5..708c8b7437 100644 --- a/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp +++ b/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp @@ -2534,11 +2534,7 @@ FixedwingPositionControl::initializeAutoLanding(const hrt_abstime &now, const po local_approach_entrance = local_position; } - if (height_above_land_point < FLT_EPSILON) { - height_above_land_point = FLT_EPSILON; - } - - _landing_approach_entrance_rel_alt = height_above_land_point; + _landing_approach_entrance_rel_alt = math::max(height_above_land_point, FLT_EPSILON); const Vector2f landing_approach_vector = local_land_point - local_approach_entrance; float landing_approach_distance = landing_approach_vector.norm();