From 3d42c495aaf16dd920685b9aa94aac6e47109226 Mon Sep 17 00:00:00 2001
From: Matthias Grob <maetugr@gmail.com>
Date: Mon, 17 Dec 2018 15:37:13 +0100
Subject: [PATCH] FlightTaskOrbit: clip radius to range
---
.../FlightTasks/tasks/Orbit/FlightTaskOrbit.cpp | 17 ++++++++---------
1 file changed, 8 insertions(+), 9 deletions(-)
diff --git a/src/lib/FlightTasks/tasks/Orbit/FlightTaskOrbit.cpp b/src/lib/FlightTasks/tasks/Orbit/FlightTaskOrbit.cpp
index 0862bfcbd3..428ab84b2f 100644
--- a/src/lib/FlightTasks/tasks/Orbit/FlightTaskOrbit.cpp
+++ b/src/lib/FlightTasks/tasks/Orbit/FlightTaskOrbit.cpp
@@ -117,19 +117,18 @@ bool FlightTaskOrbit::sendTelemetry()
return true;
}
-bool FlightTaskOrbit::setRadius(const float r)
+bool FlightTaskOrbit::setRadius(float r)
{
- if (math::isInRange(r, _radius_min, _radius_max)) {
- // small radius is more important than high velocity for safety
- if (!checkAcceleration(r, _v, _acceleration_max)) {
- _v = math::sign(_v) * sqrtf(_acceleration_max * r);
- }
+ // clip the radius to be within range
+ r = math::constrain(r, _radius_min, _radius_max);
- _r = r;
- return true;
+ // small radius is more important than high velocity for safety
+ if (!checkAcceleration(r, _v, _acceleration_max)) {
+ _v = math::sign(_v) * sqrtf(_acceleration_max * r);
}
- return false;
+ _r = r;
+ return true;
}
bool FlightTaskOrbit::setVelocity(const float v)
--
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