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mixer: FunctionMotors: compare against FLT_EPSILON instead of 0.f

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer 2024-12-13 16:34:13 +01:00 committed by Matthias Grob
parent d7904b5f2c
commit 4db55cd25f
1 changed files with 4 additions and 6 deletions
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10
src/lib/mixer_module/functions/FunctionMotors.hpp
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@ -76,7 +76,7 @@ public:
static inline void updateValues(uint32_t reversible, float thrust_factor, float *values, int num_values)
{
if (thrust_factor > 0.f && thrust_factor <= 1.f) {
if (thrust_factor > FLT_EPSILON && thrust_factor <= 1.f) {
// thrust factor
// rel_thrust = factor * x^2 + (1-factor) * x,
const float a = thrust_factor;
@ -88,17 +88,15 @@ public:
for (int i = 0; i < num_values; ++i) {
float control = values[i];
const float control = values[i];
if (PX4_ISFINITE(control)) {
if (control > 0.f) {
if (control > FLT_EPSILON) {
values[i] = -tmp1 + sqrtf(tmp2 + (control / a));
} else if (control < -0.f) {
} else if (control < -FLT_EPSILON) {
values[i] = tmp1 - sqrtf(tmp2 - (control / a));
} else {
values[i] = 0.f;
}
}
}