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mc_pos_control: use defines for point size and number of points in

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trajectory_waypoint
This commit is contained in:
Martina
2018-07-12 16:36:11 -04:00
committed by Daniel Agar
parent c84e651edd
commit 9bdc9aada2
1 changed files with 2 additions and 5 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
+2 -5
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@@ -3579,9 +3579,8 @@ void MulticopterPositionControl::update_avoidance_waypoint_desired(const int poi
void void
MulticopterPositionControl::reset_avoidance_waypoint_desired() 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_0[i] = NAN;
_traj_wp_avoidance_desired.point_1[i] = NAN; _traj_wp_avoidance_desired.point_1[i] = NAN;
_traj_wp_avoidance_desired.point_2[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; _traj_wp_avoidance_desired.point_4[i] = NAN;
} }
const int number_points = 5; for (int i = 0; i < trajectory_waypoint_s::NUMBER_POINTS; ++i) {
for (int i = 0; i < number_points; ++i) {
_traj_wp_avoidance_desired.point_valid[i] = 0; _traj_wp_avoidance_desired.point_valid[i] = 0;
} }
} }