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FlightTasks safer matrix usage

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Daniel Agar
2018-08-27 15:43:25 -04:00
parent 507a872546
commit acff200f0d
2 changed files with 2 additions and 2 deletions
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src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.cpp
+1 -1
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@@ -228,7 +228,7 @@ void FlightTaskAuto::_set_heading_from_mode()
switch (MPC_YAW_MODE.get()) {
case 0: { // Heading points towards the current waypoint.
v = Vector2f(&_target(0)) - Vector2f(&_position(0));
v = Vector2f(_target(0), _target(1)) - Vector2f(_position(0), _position(1));
break;
}
src/lib/FlightTasks/tasks/Utility/StraightLine.cpp
+1 -1
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@@ -113,7 +113,7 @@ float StraightLine::getMaxAcc()
Vector3f u_orig_to_target = (_target - _origin).unit_or_zero();
// calculate the maximal horizontal acceleration
float divider = Vector2f(u_orig_to_target.data()).length();
float divider = Vector2f(u_orig_to_target(0), u_orig_to_target(1)).length();
float max_acc_hor = MPC_ACC_HOR_MAX.get();
if (divider > FLT_EPSILON) {