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Use signNoZero() where possible

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This commit is contained in:
Matthias Grob
2022-06-03 16:08:16 +02:00
committed by Silvan Fuhrer
parent 4fc2640ee3
commit fad3d46907
2 changed files with 3 additions and 3 deletions
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src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
+2 -2
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@@ -1349,7 +1349,7 @@ FixedwingPositionControl::control_auto_loiter(const hrt_abstime &now, const floa
if (fabsf(pos_sp_curr.loiter_radius) < FLT_EPSILON) {
loiter_radius = _param_nav_loiter_rad.get();
loiter_direction = (loiter_radius > 0) ? 1 : -1;
loiter_direction = signNoZero(loiter_radius);
}
const bool in_circle_mode = (_param_fw_use_npfg.get()) ? _npfg.circleMode() : _l1_control.circle_mode();
@@ -2751,7 +2751,7 @@ void FixedwingPositionControl::publishOrbitStatus(const position_setpoint_s pos_
if (fabsf(loiter_radius) < FLT_EPSILON) {
loiter_radius = _param_nav_loiter_rad.get();
loiter_direction = (loiter_radius > 0) ? 1 : -1;
loiter_direction = signNoZero(loiter_radius);
}
orbit_status.radius = static_cast<float>(loiter_direction) * loiter_radius;
src/modules/navigator/mission_block.cpp
+1 -1
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@@ -608,7 +608,7 @@ MissionBlock::mission_item_to_position_setpoint(const mission_item_s &item, posi
sp->yaw_valid = PX4_ISFINITE(item.yaw);
sp->loiter_radius = (fabsf(item.loiter_radius) > NAV_EPSILON_POSITION) ? fabsf(item.loiter_radius) :
_navigator->get_loiter_radius();
sp->loiter_direction = (item.loiter_radius > 0) ? 1 : -1;
sp->loiter_direction = math::signNoZero(item.loiter_radius);
if (item.acceptance_radius > 0.0f && PX4_ISFINITE(item.acceptance_radius)) {
// if the mission item has a specified acceptance radius, overwrite the default one from parameters