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mpc: use xy stick limiting function from library

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bresch 2022-02-24 14:27:10 +01:00 committed by Mathieu Bresciani
parent 7e9a45a01a
commit 1de38c88d9
1 changed files with 1 additions and 5 deletions
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6
src/modules/flight_mode_manager/tasks/ManualPosition/FlightTaskManualPosition.cpp
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@ -73,11 +73,7 @@ void FlightTaskManualPosition::_scaleSticks()
/* Constrain length of stick inputs to 1 for xy*/
Vector2f stick_xy = _sticks.getPositionExpo().slice<2, 1>(0, 0);
const float mag = math::constrain(stick_xy.length(), 0.0f, 1.0f);
if (mag > FLT_EPSILON) {
stick_xy = stick_xy.normalized() * mag;
}
Sticks::limitStickUnitLengthXY(stick_xy);
const float max_speed_from_estimator = _sub_vehicle_local_position.get().vxy_max;