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AP_Mission: use fabsF where appropriate

This commit is contained in:
Andy Piper 2023-06-14 12:40:20 -04:00 committed by Andrew Tridgell
parent 761c7a0161
commit 5d260f1f42
1 changed files with 2 additions and 2 deletions
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4
libraries/AP_Mission/AP_Mission_Commands.cpp
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@ -286,8 +286,8 @@ bool AP_Mission::start_command_do_gimbal_manager_pitchyaw(const AP_Mission::Miss
}
// handle angle target
const bool pitch_angle_valid = !isnan(cmd.content.gimbal_manager_pitchyaw.pitch_angle_deg) && (fabsf(cmd.content.gimbal_manager_pitchyaw.pitch_angle_deg) <= 90);
const bool yaw_angle_valid = !isnan(cmd.content.gimbal_manager_pitchyaw.yaw_angle_deg) && (fabsf(cmd.content.gimbal_manager_pitchyaw.yaw_angle_deg) <= 360);
const bool pitch_angle_valid = !isnan(cmd.content.gimbal_manager_pitchyaw.pitch_angle_deg) && (fabsF(cmd.content.gimbal_manager_pitchyaw.pitch_angle_deg) <= 90);
const bool yaw_angle_valid = !isnan(cmd.content.gimbal_manager_pitchyaw.yaw_angle_deg) && (fabsF(cmd.content.gimbal_manager_pitchyaw.yaw_angle_deg) <= 360);
if (pitch_angle_valid && yaw_angle_valid) {
mount->set_angle_target(gimbal_instance, 0, cmd.content.gimbal_manager_pitchyaw.pitch_angle_deg, cmd.content.gimbal_manager_pitchyaw.yaw_angle_deg, cmd.content.gimbal_manager_pitchyaw.flags & GIMBAL_MANAGER_FLAGS_YAW_LOCK);
return true;