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AP_Math: Remove fabsf from kinematic_limit clean up

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Leonard Hall
2026-04-15 15:43:13 +10:00
committed by Peter Barker
parent 0760b4c7c0
commit c2045d7198
1 changed files with 5 additions and 5 deletions
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libraries/AP_Math/control.cpp
+5 -5
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@@ -725,7 +725,7 @@ float kinematic_limit(Vector3f direction, float max_xy, float max_z_neg, float m
float kinematic_limit(float dir_xy, float dir_z, float max_xy, float max_z_neg, float max_z_pos)
{
// Reject invalid limits
if (!is_positive(max_xy) || !is_positive(max_z_pos) || !is_positive(max_z_neg)) {
if (is_negative(dir_xy) || !is_positive(max_xy) || !is_positive(max_z_pos) || !is_positive(max_z_neg)) {
return 0.0;
}
@@ -755,21 +755,21 @@ float kinematic_limit(float dir_xy, float dir_z, float max_xy, float max_z_neg,
if (is_positive(slope)) {
// Positive-Z: constrained by max_z_pos
if (fabsf(slope) < max_z_pos / max_xy) {
if (slope < max_z_pos / max_xy) {
// Shallow direction: horizontal limit reached first
return max_xy / dir_xy;
}
// Steep direction: vertical limit reached first
return fabsf(max_z_pos / dir_z);
return max_z_pos / dir_z;
}
// Negative-Z: constrained by max_z_neg
if (fabsf(slope) < max_z_neg / max_xy) {
if (-slope < max_z_neg / max_xy) {
// Shallow direction: horizontal limit reached first
return max_xy / dir_xy;
}
// Steep direction: vertical limit reached first
return fabsf(max_z_neg / dir_z);
return -max_z_neg / dir_z;
}
// Applies an exponential curve to a normalized input in the range [-1, 1].