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Code Issues Wiki Activity

remove redundant "if"

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This commit is contained in:
breadoven 2021-09-18 10:40:10 +01:00
parent b485a6d116
commit 5cbe2caad8
1 changed files with 2 additions and 4 deletions
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6
src/main/navigation/navigation_fixedwing.c
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@ -622,10 +622,8 @@ void applyFixedWingEmergencyLandingController(timeUs_t currentTimeUs)
updateClimbRateToAltitudeController(-1.0f * navConfig()->general.emerg_descent_rate, ROC_TO_ALT_NORMAL); updateClimbRateToAltitudeController(-1.0f * navConfig()->general.emerg_descent_rate, ROC_TO_ALT_NORMAL);
applyFixedWingAltitudeAndThrottleController(currentTimeUs); applyFixedWingAltitudeAndThrottleController(currentTimeUs);
if (isPitchAdjustmentValid) { int16_t pitchCorrection = constrain(posControl.rcAdjustment[PITCH], -DEGREES_TO_DECIDEGREES(navConfig()->fw.max_dive_angle), DEGREES_TO_DECIDEGREES(navConfig()->fw.max_climb_angle));
int16_t pitchCorrection = constrain(posControl.rcAdjustment[PITCH], -DEGREES_TO_DECIDEGREES(navConfig()->fw.max_dive_angle), DEGREES_TO_DECIDEGREES(navConfig()->fw.max_climb_angle)); rcCommand[PITCH] = -pidAngleToRcCommand(pitchCorrection, pidProfile()->max_angle_inclination[FD_PITCH]);
rcCommand[PITCH] = -pidAngleToRcCommand(pitchCorrection, pidProfile()->max_angle_inclination[FD_PITCH]);
}
} else { } else {
rcCommand[PITCH] = pidAngleToRcCommand(failsafeConfig()->failsafe_fw_pitch_angle, pidProfile()->max_angle_inclination[FD_PITCH]); rcCommand[PITCH] = pidAngleToRcCommand(failsafeConfig()->failsafe_fw_pitch_angle, pidProfile()->max_angle_inclination[FD_PITCH]);
} }