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flight tasks: minor cleanup (avoid using *= for assignment)

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This commit is contained in:
Beat Küng
2018-09-24 13:57:37 +02:00
committed by Lorenz Meier
parent afada8ddb5
commit eac8f8813a
2 changed files with 6 additions and 7 deletions
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src/lib/FlightTasks/tasks/FlightTask/FlightTask.cpp
+4 -4
View File
@@ -74,10 +74,10 @@ const vehicle_local_position_setpoint_s FlightTask::getPositionSetpoint()
void FlightTask::_resetSetpoints() void FlightTask::_resetSetpoints()
{ {
_position_setpoint *= NAN; _position_setpoint.setAll(NAN);
_velocity_setpoint *= NAN; _velocity_setpoint.setAll(NAN);
_acceleration_setpoint *= NAN; _acceleration_setpoint.setAll(NAN);
_thrust_setpoint *= NAN; _thrust_setpoint.setAll(NAN);
_yaw_setpoint = _yawspeed_setpoint = NAN; _yaw_setpoint = _yawspeed_setpoint = NAN;
_desired_waypoint = FlightTask::empty_trajectory_waypoint; _desired_waypoint = FlightTask::empty_trajectory_waypoint;
} }
src/lib/FlightTasks/tasks/ManualPosition/FlightTaskManualPosition.cpp
+2 -3
View File
@@ -130,8 +130,7 @@ void FlightTaskManualPosition::_updateXYlock()
} else if (PX4_ISFINITE(_position_setpoint(0)) && apply_brake) { } else if (PX4_ISFINITE(_position_setpoint(0)) && apply_brake) {
// Position is locked but check if a reset event has happened. // Position is locked but check if a reset event has happened.
// We will shift the setpoints. // We will shift the setpoints.
if (_sub_vehicle_local_position->get().xy_reset_counter if (_sub_vehicle_local_position->get().xy_reset_counter != _reset_counter) {
!= _reset_counter) {
_position_setpoint(0) = _position(0); _position_setpoint(0) = _position(0);
_position_setpoint(1) = _position(1); _position_setpoint(1) = _position(1);
_reset_counter = _sub_vehicle_local_position->get().xy_reset_counter; _reset_counter = _sub_vehicle_local_position->get().xy_reset_counter;
@@ -147,6 +146,6 @@ void FlightTaskManualPosition::_updateXYlock()
void FlightTaskManualPosition::_updateSetpoints() void FlightTaskManualPosition::_updateSetpoints()
{ {
FlightTaskManualAltitude::_updateSetpoints(); // needed to get yaw and setpoints in z-direction 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 _updateXYlock(); // check for position lock
} }