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Copter: No unnecessary operations #26791

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Copter: No unnecessary operations #26791

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8 changes: 5 additions & 3 deletions ArduCopter/mode_poshold.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -528,15 +528,17 @@ void ModePosHold::update_brake_angle_from_velocity(float &brake_angle, float vel
float brake_rate = g.poshold_brake_rate;

brake_rate /= (float)LOOP_RATE_FACTOR;
if (brake_rate <= 1.0f) {
if (brake_rate < 1.0f) {
brake_rate = 1.0f;
}

// calculate velocity-only based lean angle
if (velocity >= 0) {
if (is_positive(velocity)) {
lean_angle = -brake.gain * velocity * (1.0f + 500.0f / (velocity + 60.0f));
} else {
} else if (is_negative(velocity)) {
lean_angle = -brake.gain * velocity * (1.0f + 500.0f / (-velocity + 60.0f));
} else {
lean_angle = 0.0f;
Comment on lines -538 to +541
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No need for this if velocity is zero the result will be lean_angle = 0

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When velocity is 0, it is explicitly stated whether the operation is performed or not.

}

// do not let lean_angle be too far from brake_angle
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