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Flight tasks: avoid using *= for scalar to vector assignment

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It's confusing and there is a corner case where the result is incorrect:
*= 0 will not set the variable to 0 if it's already NAN.
This commit is contained in:
Beat Küng
2018-10-04 15:09:02 +02:00
committed by Dennis Mannhart
parent bb756e0e12
commit 206baa7432
3 changed files with 7 additions and 7 deletions
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src/lib/FlightTasks/tasks/Offboard/FlightTaskOffboard.cpp
+5 -5
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@@ -68,8 +68,8 @@ bool FlightTaskOffboard::activate()
{
bool ret = FlightTask::activate();
_position_setpoint = _position;
_velocity_setpoint *= 0.0f;
_position_lock *= NAN;
_velocity_setpoint.setZero();
_position_lock.setAll(NAN);
return ret;
}
@@ -117,7 +117,7 @@ bool FlightTaskOffboard::update()
return true;
} else {
_position_lock *= NAN;
_position_lock.setAll(NAN);
}
// Takeoff
@@ -135,7 +135,7 @@ bool FlightTaskOffboard::update()
return true;
} else {
_position_lock *= NAN;
_position_lock.setAll(NAN);
}
// Land
@@ -155,7 +155,7 @@ bool FlightTaskOffboard::update()
return true;
} else {
_position_lock *= NAN;
_position_lock.setAll(NAN);
}
// IDLE