From c06b5a1de987914f90eabffa48a7508d2cfe56d5 Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Tue, 30 Mar 2021 19:48:12 +0200 Subject: [PATCH] MulticopterPositionControl: improve tilt limit readability and scope according to @bresch's review comment. --- .../mc_pos_control/MulticopterPositionControl.cpp | 10 +++------- 1 file changed, 3 insertions(+), 7 deletions(-) diff --git a/src/modules/mc_pos_control/MulticopterPositionControl.cpp b/src/modules/mc_pos_control/MulticopterPositionControl.cpp index b46f5b539b..55e361ab06 100644 --- a/src/modules/mc_pos_control/MulticopterPositionControl.cpp +++ b/src/modules/mc_pos_control/MulticopterPositionControl.cpp @@ -375,13 +375,9 @@ void MulticopterPositionControl::Run() } // limit tilt during takeoff ramupup - float tilt_limit = math::radians(_param_mpc_tiltmax_air.get()); - - if (_takeoff.getTakeoffState() < TakeoffState::flight) { - tilt_limit = math::radians(_param_mpc_tiltmax_lnd.get()); - } - - _control.setTiltLimit(_tilt_limit_slew_rate.update(tilt_limit, dt)); + const float tilt_limit_deg = (_takeoff.getTakeoffState() < TakeoffState::flight) + ? _param_mpc_tiltmax_lnd.get() : _param_mpc_tiltmax_air.get(); + _control.setTiltLimit(_tilt_limit_slew_rate.update(math::radians(tilt_limit_deg), dt)); const float speed_up = _takeoff.updateRamp(dt, PX4_ISFINITE(_vehicle_constraints.speed_up) ? _vehicle_constraints.speed_up : _param_mpc_z_vel_max_up.get());