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AC_Avoid: delete variable that is only used once in a simple calculation

This commit is contained in:
murata 2016-10-03 20:44:30 +09:00 committed by Randy Mackay
parent cb61840ad2
commit 36b5d43efb
1 changed files with 4 additions and 6 deletions
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10
libraries/AC_Avoidance/AC_Avoid.cpp
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@ -199,14 +199,12 @@ float AC_Avoid::get_stopping_distance(const float kP, const float accel_cmss, co
return 0.0f;
}
// calculate point at which velocity switches from linear to sqrt
float linear_speed = accel_cmss/kP;
// calculate distance within which we can stop
if (speed < linear_speed) {
// accel_cmss/kP is the point at which velocity switches from linear to sqrt
if (speed < accel_cmss/kP) {
return speed/kP;
} else {
float linear_distance = accel_cmss/(2.0f*kP*kP);
return linear_distance + (speed*speed)/(2.0f*accel_cmss);
// accel_cmss/(2.0f*kP*kP) is the distance at which we switch from linear to sqrt response
return accel_cmss/(2.0f*kP*kP) + (speed*speed)/(2.0f*accel_cmss);
}
}