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AR_AttitudeControl: use speed_control_active in get_desired_speed_accel_limited

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also minor formatting fixes
this is a non-functional change
This commit is contained in:
Randy Mackay 2019-05-04 12:10:55 +09:00
parent 6d4d1bc20a
commit 4e68d16526
1 changed files with 3 additions and 5 deletions
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8
libraries/APM_Control/AR_AttitudeControl.cpp
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@ -448,13 +448,12 @@ float AR_AttitudeControl::get_throttle_out_speed(float desired_speed, bool motor
}
// if not called recently, reset input filter and desired speed to actual speed (used for accel limiting)
const uint32_t now = AP_HAL::millis();
if (!speed_control_active()) {
_throttle_speed_pid.reset_filter();
_throttle_speed_pid.reset_I();
_desired_speed = speed;
}
_speed_last_ms = now;
_speed_last_ms = AP_HAL::millis();
// acceleration limit desired speed
_desired_speed = get_desired_speed_accel_limited(desired_speed, dt);
@ -721,9 +720,8 @@ float AR_AttitudeControl::get_desired_speed() const
float AR_AttitudeControl::get_desired_speed_accel_limited(float desired_speed, float dt) const
{
// return input value if no recent calls to speed controller
// apply no limiting when ATC_ACCEL_MAX is set to zero
const uint32_t now = AP_HAL::millis();
if ((_speed_last_ms == 0) || ((now - _speed_last_ms) > AR_ATTCONTROL_TIMEOUT_MS) || !is_positive(_throttle_accel_max)) {
// apply no limiting when ATC_ACCEL_MAX is set to zero
if (!speed_control_active() || !is_positive(_throttle_accel_max)) {
return desired_speed;
}