forked from Archive/PX4-Autopilot
mtecs: improve logic readability
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6d8dfd78f1
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831a3d4ed1
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@ -199,8 +199,8 @@ int mTecs::updateFlightPathAngleAcceleration(float flightPathAngle, float flight
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}
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}
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/* Set special ouput limiters if we are not in TECS_MODE_NORMAL */
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/* Set special ouput limiters if we are not in TECS_MODE_NORMAL */
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BlockOutputLimiter *outputLimiterThrottle = NULL; // NULL --> use standard inflight limits
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BlockOutputLimiter *outputLimiterThrottle = &_controlTotalEnergy.getOutputLimiter();
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BlockOutputLimiter *outputLimiterPitch = NULL; // NULL --> use standard inflight limits
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BlockOutputLimiter *outputLimiterPitch = &_controlEnergyDistribution.getOutputLimiter();
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if (mode == TECS_MODE_TAKEOFF) {
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if (mode == TECS_MODE_TAKEOFF) {
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outputLimiterThrottle = &_BlockOutputLimiterTakeoffThrottle; //XXX: accept prelaunch values from launchdetector
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outputLimiterThrottle = &_BlockOutputLimiterTakeoffThrottle; //XXX: accept prelaunch values from launchdetector
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outputLimiterPitch = &_BlockOutputLimiterTakeoffPitch;
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outputLimiterPitch = &_BlockOutputLimiterTakeoffPitch;
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@ -218,12 +218,7 @@ int mTecs::updateFlightPathAngleAcceleration(float flightPathAngle, float flight
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/* Apply overrride given by the limitOverride argument (this is used for limits which are not given by
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/* Apply overrride given by the limitOverride argument (this is used for limits which are not given by
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* parameters such as pitch limits with takeoff waypoints or throttle limits when the launchdetector
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* parameters such as pitch limits with takeoff waypoints or throttle limits when the launchdetector
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* is running) */
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* is running) */
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bool limitApplied = limitOverride.applyOverride(outputLimiterThrottle == NULL ?
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bool limitApplied = limitOverride.applyOverride(*outputLimiterThrottle, *outputLimiterPitch);
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_controlTotalEnergy.getOutputLimiter() :
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*outputLimiterThrottle,
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outputLimiterPitch == NULL ?
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_controlEnergyDistribution.getOutputLimiter() :
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*outputLimiterPitch);
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/* Write part of the status message */
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/* Write part of the status message */
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_status.airspeedDerivativeSp = airspeedDerivativeSp;
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_status.airspeedDerivativeSp = airspeedDerivativeSp;
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