CopterExpress/clover
1
0
Fork 0
mirror of https://github.com/CopterExpress/clover.git synced 2026-05-26 11:43:25 +00:00
Code Issues Packages Projects Releases Wiki Activity

Simplify code

Browse Source
This commit is contained in:
Oleg Kalachev
2022-12-20 12:25:11 +03:00
parent e2536395e7
commit d4f1706e0c
1 changed files with 9 additions and 13 deletions
Download Patch File Download Diff File Expand all files Collapse all files

22
clover/src/simple_offboard.cpp
View File

@@ -707,24 +707,20 @@ bool serve(enum setpoint_type_t sp_type, float x, float y, float z, float vx, fl
ENSURE_NON_INF(x);
ENSURE_NON_INF(y);
ENSURE_NON_INF(z);
ENSURE_NON_INF(yaw_rate);
ENSURE_NON_INF(speed); // TODO: allow inf
ENSURE_NON_INF(vx);
ENSURE_NON_INF(vy);
ENSURE_NON_INF(vz);
ENSURE_NON_INF(roll);
ENSURE_NON_INF(pitch);
ENSURE_NON_INF(roll_rate);
ENSURE_NON_INF(pitch_rate);
ENSURE_NON_INF(yaw_rate);
ENSURE_NON_INF(thrust);
if (sp_type == NAVIGATE_GLOBAL) {
ENSURE_FINITE(lat);
ENSURE_FINITE(lon);
} else if (sp_type == VELOCITY) {
ENSURE_NON_INF(vx);
ENSURE_NON_INF(vy);
ENSURE_NON_INF(vz);
} else if (sp_type == ATTITUDE) {
ENSURE_NON_INF(roll);
ENSURE_NON_INF(pitch);
ENSURE_NON_INF(thrust);
} else if (sp_type == RATES) {
ENSURE_NON_INF(roll_rate);
ENSURE_NON_INF(pitch_rate);
ENSURE_NON_INF(thrust);
}
if (isfinite(x) != isfinite(y)) {