From eac8f8813adf2cefde33e6f461edef7f72f0d923 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Beat=20K=C3=BCng?= Date: Mon, 24 Sep 2018 08:17:32 +0200 Subject: [PATCH] flight tasks: minor cleanup (avoid using *= for assignment) --- src/lib/FlightTasks/tasks/FlightTask/FlightTask.cpp | 8 ++++---- .../tasks/ManualPosition/FlightTaskManualPosition.cpp | 5 ++--- 2 files changed, 6 insertions(+), 7 deletions(-) diff --git a/src/lib/FlightTasks/tasks/FlightTask/FlightTask.cpp b/src/lib/FlightTasks/tasks/FlightTask/FlightTask.cpp index b6c63bb2cf..1ee5ef6e82 100644 --- a/src/lib/FlightTasks/tasks/FlightTask/FlightTask.cpp +++ b/src/lib/FlightTasks/tasks/FlightTask/FlightTask.cpp @@ -74,10 +74,10 @@ const vehicle_local_position_setpoint_s FlightTask::getPositionSetpoint() void FlightTask::_resetSetpoints() { - _position_setpoint *= NAN; - _velocity_setpoint *= NAN; - _acceleration_setpoint *= NAN; - _thrust_setpoint *= NAN; + _position_setpoint.setAll(NAN); + _velocity_setpoint.setAll(NAN); + _acceleration_setpoint.setAll(NAN); + _thrust_setpoint.setAll(NAN); _yaw_setpoint = _yawspeed_setpoint = NAN; _desired_waypoint = FlightTask::empty_trajectory_waypoint; } diff --git a/src/lib/FlightTasks/tasks/ManualPosition/FlightTaskManualPosition.cpp b/src/lib/FlightTasks/tasks/ManualPosition/FlightTaskManualPosition.cpp index bcec9a6d70..0aa0040b66 100644 --- a/src/lib/FlightTasks/tasks/ManualPosition/FlightTaskManualPosition.cpp +++ b/src/lib/FlightTasks/tasks/ManualPosition/FlightTaskManualPosition.cpp @@ -130,8 +130,7 @@ void FlightTaskManualPosition::_updateXYlock() } else if (PX4_ISFINITE(_position_setpoint(0)) && apply_brake) { // Position is locked but check if a reset event has happened. // We will shift the setpoints. - if (_sub_vehicle_local_position->get().xy_reset_counter - != _reset_counter) { + if (_sub_vehicle_local_position->get().xy_reset_counter != _reset_counter) { _position_setpoint(0) = _position(0); _position_setpoint(1) = _position(1); _reset_counter = _sub_vehicle_local_position->get().xy_reset_counter; @@ -147,6 +146,6 @@ void FlightTaskManualPosition::_updateXYlock() void FlightTaskManualPosition::_updateSetpoints() { FlightTaskManualAltitude::_updateSetpoints(); // needed to get yaw and setpoints in z-direction - _thrust_setpoint *= NAN; // don't require any thrust setpoints + _thrust_setpoint.setAll(NAN); // don't require any thrust setpoints _updateXYlock(); // check for position lock }