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This commit is contained in:
Dennis Mannhart
2018-05-04 07:43:15 +02:00
committed by Lorenz Meier
parent a0c3c80b37
commit 89c266e699
2 changed files with 2 additions and 2 deletions
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src/modules/mc_pos_control/Utility/ControlMath.cpp
+1 -1
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@@ -109,7 +109,7 @@ vehicle_attitude_setpoint_s thrustToAttitude(const matrix::Vector3f &thr_sp, con
return att_sp; return att_sp;
} }
matrix::Vector2f constrainXY(const matrix::Vector2f &v0, const matrix::Vector2f &v1, const float max) matrix::Vector2f constrainXY(const matrix::Vector2f &v0, const matrix::Vector2f &v1, const float &max)
{ {
if (matrix::Vector2f(v0 + v1).norm() <= max) { if (matrix::Vector2f(v0 + v1).norm() <= max) {
// vector does not exceed maximum magnitude // vector does not exceed maximum magnitude
src/modules/mc_pos_control/Utility/ControlMath.hpp
+1 -1
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@@ -63,7 +63,7 @@ vehicle_attitude_setpoint_s thrustToAttitude(const matrix::Vector3f &thr_sp, con
* @param v1 a 2D vector that less priority given the maximum available magnitude. * @param v1 a 2D vector that less priority given the maximum available magnitude.
* @return 2D vector * @return 2D vector
*/ */
matrix::Vector2f constrainXY(const matrix::Vector2f &v0, const matrix::Vector2f &v1, const float max); matrix::Vector2f constrainXY(const matrix::Vector2f &v0, const matrix::Vector2f &v1, const float &max);
/** /**
* This method was used for smoothing the corners along two lines. * This method was used for smoothing the corners along two lines.