From 56cf77a74cc07873c0125cec6a2db351f2796964 Mon Sep 17 00:00:00 2001 From: RomanBapst Date: Wed, 27 Oct 2021 12:51:43 +0300 Subject: [PATCH] addressed review comments Signed-off-by: RomanBapst --- src/lib/tecs/TECS.cpp | 2 +- src/lib/tecs/TECS.hpp | 2 -- 2 files changed, 1 insertion(+), 3 deletions(-) diff --git a/src/lib/tecs/TECS.cpp b/src/lib/tecs/TECS.cpp index aabece77b7..e33250e226 100644 --- a/src/lib/tecs/TECS.cpp +++ b/src/lib/tecs/TECS.cpp @@ -443,7 +443,7 @@ void TECS::_updateTrajectoryGenerationConstraints() { _alt_control_traj_generator.setMaxJerk(_jerk_max); _alt_control_traj_generator.setMaxAccel(_vert_accel_limit); - _alt_control_traj_generator.setMaxVel(max(_max_climb_rate, _max_sink_rate)); + _alt_control_traj_generator.setMaxVel(fmax(_max_climb_rate, _max_sink_rate)); _velocity_control_traj_generator.setMaxJerk(_jerk_max); _velocity_control_traj_generator.setMaxAccelUp(_vert_accel_limit); diff --git a/src/lib/tecs/TECS.hpp b/src/lib/tecs/TECS.hpp index f362715e05..cfede513a5 100644 --- a/src/lib/tecs/TECS.hpp +++ b/src/lib/tecs/TECS.hpp @@ -353,8 +353,6 @@ private: void _updateTrajectoryGenerationConstraints(); - void _updateFlightPhase(float altitude_sp_amsl, float height_rate_setpoint); - void _calculateHeightRateSetpoint(float altitude_sp_amsl, float height_rate_sp, float target_climbrate, float target_sinkrate, float altitude_amsl);