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fix float comparison to 0.0f

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This commit is contained in:
v01d
2015-09-29 11:58:51 -03:00
committed by tumbili
parent da3087e54c
commit 42ccc654b5
1 changed files with 2 additions and 2 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
+2 -2
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@@ -696,7 +696,7 @@ MulticopterPositionControl::control_manual(float dt)
/* check for pos. hold */
if (fabsf(req_vel_sp(0)) < _params.hold_dz && fabsf(req_vel_sp(1)) < _params.hold_dz)
{
if (!_pos_hold_engaged && (_params.hold_max_xy == 0.0f ||
if (!_pos_hold_engaged && (_params.hold_max_xy < FLT_EPSILON ||
(fabsf(_vel(0)) < _params.hold_max_xy && fabsf(_vel(1)) < _params.hold_max_xy)))
{
_pos_hold_engaged = true;
@@ -725,7 +725,7 @@ MulticopterPositionControl::control_manual(float dt)
/* check for pos. hold */
if (fabsf(req_vel_sp(2)) < _params.hold_dz)
{
if (!_alt_hold_engaged && (_params.hold_max_z == 0.0f || fabsf(_vel(2)) < _params.hold_max_z))
if (!_alt_hold_engaged && (_params.hold_max_z < FLT_EPSILON || fabsf(_vel(2)) < _params.hold_max_z))
{
_alt_hold_engaged = true;
_pos_hold_engaged = true;