Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-03 06:28:27 -04:00
Code Issues Packages Projects Releases Wiki Activity

AC_Avoidance: Dijsktras comment and const fix

Browse Source
This commit is contained in:
Randy Mackay 2023-12-27 11:42:31 +09:00
parent 58b6429893
commit 6c24f80669
1 changed files with 2 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
libraries/AC_Avoidance/AP_OADijkstra.cpp
View File

@ -179,7 +179,7 @@ AP_OADijkstra::AP_OADijkstra_State AP_OADijkstra::update(const Location &current
// path has been created, return latest point // path has been created, return latest point
Vector2f dest_pos; Vector2f dest_pos;
uint8_t path_length = get_shortest_path_numpoints() > 0 ? (get_shortest_path_numpoints() - 1) : 0; const uint8_t path_length = get_shortest_path_numpoints() > 0 ? (get_shortest_path_numpoints() - 1) : 0;
if ((_path_idx_returned < path_length) && get_shortest_path_point(_path_idx_returned, dest_pos)) { if ((_path_idx_returned < path_length) && get_shortest_path_point(_path_idx_returned, dest_pos)) {
// for the first point return origin as current_loc // for the first point return origin as current_loc
@ -199,7 +199,7 @@ AP_OADijkstra::AP_OADijkstra_State AP_OADijkstra::update(const Location &current
destination_new.lat = temp_loc.lat; destination_new.lat = temp_loc.lat;
destination_new.lng = temp_loc.lng; destination_new.lng = temp_loc.lng;
// if present also provide next destination if present to allow smooth cornering // provide next destination to allow smooth cornering
next_destination_new.zero(); next_destination_new.zero();
Vector2f next_dest_pos; Vector2f next_dest_pos;
if ((_path_idx_returned + 1 < path_length) && get_shortest_path_point(_path_idx_returned + 1, next_dest_pos)) { if ((_path_idx_returned + 1 < path_length) && get_shortest_path_point(_path_idx_returned + 1, next_dest_pos)) {