From 3329d69d05fd60c2953431a3d22671c7a6ee98c2 Mon Sep 17 00:00:00 2001
From: Dennis Mannhart <dennis@yuneecresearch.com>
Date: Mon, 24 Sep 2018 11:41:02 +0200
Subject: [PATCH] mc_pos_control: replace const with constexpr
---
src/modules/mc_pos_control/mc_pos_control_main.cpp | 4 +---
1 file changed, 1 insertion(+), 3 deletions(-)
diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp
index 18aef49080..70423b5c27 100644
--- a/src/modules/mc_pos_control/mc_pos_control_main.cpp
+++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp
@@ -683,11 +683,9 @@ MulticopterPositionControl::run()
constraints.speed_up = _takeoff_speed;
// altitude above reference takeoff
const float alt_above_tko = -(_states.position(2) - _takeoff_reference_z);
- // altitude threshold at which full control is enabled
- const float alt_threshold = 0.5f; //at 0.5m above grouund, control all setpoints
// disable position-xy / yaw control when close to ground
- if (alt_above_tko <= alt_threshold) {
+ if (alt_above_tko <= ALTITUDE_THRESHOLD) {
// don't control position in xy
setpoint.x = setpoint.y = NAN;
setpoint.vx = setpoint.vy = NAN;
--
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