Step 2: AP_Math: add function limit accel corner xy #31870
Merged
Conversation
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
lthall
changed the title
lthall
force-pushed
the
20260107_add_limit_accel_corner_xy
branch
from
3762d73 to
7a47805
Compare
peterbarker
force-pushed
the
20260107_add_limit_accel_corner_xy
branch
from
7a47805 to
1e09812
Compare
peterbarker
reviewed
Jan 7, 2026
| accel_target = accel_cross + vel_desired_unit * accel_dir; | ||
| } | ||
| } | ||
| limit_accel_corner_xy(vel_desired, accel_target, accel_max); |
Contributor
There was a problem hiding this comment.
This is a boolean method, success should be checked for.
Note the significant change in behaviour if limit_length fails, and you were to early-return.
There's a lot of code here which will no longer be crossed.
Perhaps check the result and raise an internal error but rumble on? We should probably already be raising a ruckus if someone passes in a negative accel.
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
2 participants
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
This moves an algorithm to a separate function in preparation for #31848.
This is meant to be accepted after #31869