From 9bdc9aada28758668bdbbb7fa2a044be3f7ae448 Mon Sep 17 00:00:00 2001 From: Martina Date: Fri, 6 Apr 2018 08:53:13 +0200 Subject: [PATCH] mc_pos_control: use defines for point size and number of points in trajectory_waypoint --- src/modules/mc_pos_control/mc_pos_control_main.cpp | 7 ++----- 1 file changed, 2 insertions(+), 5 deletions(-) diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp index a93dae4722..a4f0bdea69 100644 --- a/src/modules/mc_pos_control/mc_pos_control_main.cpp +++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp @@ -3579,9 +3579,8 @@ void MulticopterPositionControl::update_avoidance_waypoint_desired(const int poi void MulticopterPositionControl::reset_avoidance_waypoint_desired() { - const int point_size = 11; - for (int i = 0; i < point_size; ++i) { + for (int i = 0; i < trajectory_waypoint_s::POINT_SIZE; ++i) { _traj_wp_avoidance_desired.point_0[i] = NAN; _traj_wp_avoidance_desired.point_1[i] = NAN; _traj_wp_avoidance_desired.point_2[i] = NAN; @@ -3589,9 +3588,7 @@ MulticopterPositionControl::reset_avoidance_waypoint_desired() _traj_wp_avoidance_desired.point_4[i] = NAN; } - const int number_points = 5; - - for (int i = 0; i < number_points; ++i) { + for (int i = 0; i < trajectory_waypoint_s::NUMBER_POINTS; ++i) { _traj_wp_avoidance_desired.point_valid[i] = 0; } }