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Use signNoZero() where possible

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This commit is contained in:
Matthias Grob
2022-03-09 20:23:25 +01:00
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;