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AC_WPNav: minor const fix

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This commit is contained in:
Randy Mackay 2014-12-27 13:18:33 +09:00
parent 72127cde35
commit 4a1ba9b186
1 changed files with 4 additions and 4 deletions
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8
libraries/AC_WPNav/AC_WPNav.cpp
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@ -653,7 +653,7 @@ void AC_WPNav::calculate_wp_leash_length()
float speed_z;
float leash_z;
if (_pos_delta_unit.z >= 0) {
if (_pos_delta_unit.z >= 0.0f) {
speed_z = _wp_speed_up_cms;
leash_z = _pos_control.get_leash_up_z();
}else{
@ -662,15 +662,15 @@ void AC_WPNav::calculate_wp_leash_length()
}
// calculate the maximum acceleration, maximum velocity, and leash length in the direction of travel
if(pos_delta_unit_z == 0 && pos_delta_unit_xy == 0){
if(pos_delta_unit_z == 0.0f && pos_delta_unit_xy == 0.0f){
_track_accel = 0;
_track_speed = 0;
_track_leash_length = WPNAV_LEASH_LENGTH_MIN;
}else if(_pos_delta_unit.z == 0){
}else if(_pos_delta_unit.z == 0.0f){
_track_accel = _wp_accel_cms/pos_delta_unit_xy;
_track_speed = _wp_speed_cms/pos_delta_unit_xy;
_track_leash_length = _pos_control.get_leash_xy()/pos_delta_unit_xy;
}else if(pos_delta_unit_xy == 0){
}else if(pos_delta_unit_xy == 0.0f){
_track_accel = _wp_accel_z_cms/pos_delta_unit_z;
_track_speed = speed_z/pos_delta_unit_z;
_track_leash_length = leash_z/pos_delta_unit_z;