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Refactor: Use new matrix::Vector2f constructor

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Matthias Grob
2018-10-01 08:10:21 -04:00
committed by Daniel Agar
parent ada0179cda
commit bee6a6b8b0
13 changed files with 98 additions and 95 deletions
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src/lib/FlightTasks/tasks/ManualAltitude/FlightTaskManualAltitude.cpp
+2 -2
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@@ -101,7 +101,7 @@ void FlightTaskManualAltitude::_updateAltitudeLock()
// when terrain hold behaviour has been selected.
if (MPC_ALT_MODE.get() == 2) {
// Use horizontal speed as a transition criteria
float spd_xy = Vector2f(&_velocity(0)).length();
float spd_xy = Vector2f(_velocity).length();
// Use presence of horizontal stick inputs as a transition criteria
float stick_xy = Vector2f(&_sticks_expo(0)).length();
@@ -260,7 +260,7 @@ void FlightTaskManualAltitude::_updateSetpoints()
// thrust along xy is demanded. The maximum thrust along xy depends on the thrust
// setpoint along z-direction, which is computed in PositionControl.cpp.
Vector2f sp{_sticks(0), _sticks(1)};
Vector2f sp(&_sticks(0));
_rotateIntoHeadingFrame(sp);
if (sp.length() > 1.0f) {