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Navigator: loiter direction check: use -FLT_EPS instad of <0

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Signed-off-by: Silvan <silvan@auterion.com>
This commit is contained in:
Silvan
2025-07-22 13:21:59 +02:00
committed by Silvan Fuhrer
parent 85ccc064bd
commit 63f9acfa84
2 changed files with 3 additions and 3 deletions
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src/modules/fw_mode_manager/figure_eight/FigureEight.cpp
+1 -1
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@@ -95,7 +95,7 @@ FigureEight::FigureEightPatternParameters FigureEight::sanitizeParameters(const
if (!PX4_ISFINITE(parameters.loiter_radius)) { if (!PX4_ISFINITE(parameters.loiter_radius)) {
valid_parameters.loiter_radius = DEFAULT_MAJOR_TO_MINOR_AXIS_RATIO * valid_parameters.loiter_minor_radius; valid_parameters.loiter_radius = DEFAULT_MAJOR_TO_MINOR_AXIS_RATIO * valid_parameters.loiter_minor_radius;
valid_parameters.loiter_direction_counter_clockwise = _param_nav_loiter_rad.get() < 0; valid_parameters.loiter_direction_counter_clockwise = _param_nav_loiter_rad.get() < -FLT_EPSILON;
} }
valid_parameters.loiter_radius = math::max(valid_parameters.loiter_radius, valid_parameters.loiter_radius = math::max(valid_parameters.loiter_radius,
src/modules/navigator/navigator_main.cpp
+2 -2
View File
@@ -525,7 +525,7 @@ void Navigator::run()
if (PX4_ISFINITE(cmd.param1)) { if (PX4_ISFINITE(cmd.param1)) {
rep->current.loiter_radius = fabsf(cmd.param1); rep->current.loiter_radius = fabsf(cmd.param1);
rep->current.loiter_direction_counter_clockwise = cmd.param1 < 0; rep->current.loiter_direction_counter_clockwise = cmd.param1 < -FLT_EPSILON;
} }
rep->current.lat = position_setpoint.lat; rep->current.lat = position_setpoint.lat;
@@ -571,7 +571,7 @@ void Navigator::run()
if (PX4_ISFINITE(cmd.param1)) { if (PX4_ISFINITE(cmd.param1)) {
rep->current.loiter_radius = fabsf(cmd.param1); rep->current.loiter_radius = fabsf(cmd.param1);
rep->current.loiter_direction_counter_clockwise = cmd.param1 < 0; rep->current.loiter_direction_counter_clockwise = cmd.param1 < -FLT_EPSILON;
} }
rep->current.loiter_radius = math::max(rep->current.loiter_radius, 2.0f * rep->current.loiter_minor_radius); rep->current.loiter_radius = math::max(rep->current.loiter_radius, 2.0f * rep->current.loiter_minor_radius);