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Copter: Commands_logic fix comparing floating point with ==

This commit is contained in:
Pierre Kancir 2016-12-06 12:01:02 +01:00 committed by Tom Pittenger
parent 8d4bad0742
commit 5900653b7f
1 changed files with 2 additions and 2 deletions
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4
ArduCopter/commands_logic.cpp
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@ -772,14 +772,14 @@ bool Copter::verify_payload_place()
return false; // we'll do any cleanups required next time through the loop
}
// see if we've been descending long enough to calibrate a descend-throttle-level:
if (nav_payload_place.descend_throttle_level == 0 &&
if (is_zero(nav_payload_place.descend_throttle_level) &&
now - nav_payload_place.descend_start_timestamp > descend_throttle_calibrate_time) {
nav_payload_place.descend_throttle_level = current_throttle_level;
}
// watch the throttle to determine whether the load has been placed
// debug("hover ratio: %f descend ratio: %f\n", current_throttle_level/nav_payload_place.hover_throttle_level, ((nav_payload_place.descend_throttle_level == 0) ? -1.0f : current_throttle_level/nav_payload_place.descend_throttle_level));
if (current_throttle_level/nav_payload_place.hover_throttle_level > hover_throttle_placed_fraction &&
(nav_payload_place.descend_throttle_level == 0 ||
(is_zero(nav_payload_place.descend_throttle_level) ||
current_throttle_level/nav_payload_place.descend_throttle_level > descent_throttle_placed_fraction)) {
// throttle is above both threshold ratios (or above hover threshold ration and descent threshold ratio not yet valid)
nav_payload_place.place_start_timestamp = 0;