From 925e776a00a4fb03cd07d0344a07c58381acb70e Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Sun, 13 Oct 2024 16:35:45 +0200 Subject: [PATCH] FlightTaskAuto: use built in matrix comparison which corresponds to fabsf(a(0) - b(0)) < 1e-4f for each element. --- src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp b/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp index 5e45e7c014..6e9259871f 100644 --- a/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp +++ b/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp @@ -422,9 +422,7 @@ bool FlightTaskAuto::_evaluateTriplets() || (_next_was_valid != _sub_triplet_setpoint.get().next.valid); if (_triplet_target.isAllFinite() - && fabsf(_triplet_target(0) - tmp_target(0)) < 0.001f - && fabsf(_triplet_target(1) - tmp_target(1)) < 0.001f - && fabsf(_triplet_target(2) - tmp_target(2)) < 0.001f + && (_triplet_target == tmp_target) && !prev_next_validity_changed) { // Nothing has changed: just keep old waypoints. triplet_update = false;