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FlightTaskAuto: use built in matrix comparison

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which corresponds to fabsf(a(0) - b(0)) < 1e-4f for each element.
This commit is contained in:
Matthias Grob
2024-10-13 16:35:45 +02:00
parent 26845d9746
commit 925e776a00
1 changed files with 1 additions and 3 deletions
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src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp
+1 -3
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@@ -422,9 +422,7 @@ bool FlightTaskAuto::_evaluateTriplets()
|| (_next_was_valid != _sub_triplet_setpoint.get().next.valid); || (_next_was_valid != _sub_triplet_setpoint.get().next.valid);
if (_triplet_target.isAllFinite() if (_triplet_target.isAllFinite()
&& fabsf(_triplet_target(0) - tmp_target(0)) < 0.001f && (_triplet_target == tmp_target)
&& fabsf(_triplet_target(1) - tmp_target(1)) < 0.001f
&& fabsf(_triplet_target(2) - tmp_target(2)) < 0.001f
&& !prev_next_validity_changed) { && !prev_next_validity_changed) {
// Nothing has changed: just keep old waypoints. // Nothing has changed: just keep old waypoints.
triplet_update = false; triplet_update = false;