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AC_PosControl: init members to resolve compiler warnings

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This commit is contained in:
Randy Mackay 2014-07-14 23:30:23 +09:00 committed by unknown
parent 9233bbab14
commit 70568225a6
1 changed files with 6 additions and 4 deletions
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10
libraries/AC_AttitudeControl/AC_PosControl.cpp
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@ -44,12 +44,14 @@ AC_PosControl::AC_PosControl(const AP_AHRS& ahrs, const AP_InertialNav& inav,
_accel_z_cms(POSCONTROL_ACCEL_Z),
_accel_cms(POSCONTROL_ACCEL_XY),
_leash(POSCONTROL_LEASH_LENGTH_MIN),
_leash_down_z(POSCONTROL_LEASH_LENGTH_MIN),
_leash_up_z(POSCONTROL_LEASH_LENGTH_MIN),
_roll_target(0.0f),
_pitch_target(0.0f),
_alt_max(0),
_distance_to_target(0),
_alt_max(0.0f),
_distance_to_target(0.0f),
_xy_step(0),
_dt_xy(0),
_dt_xy(0.0f),
_vel_xyz_step(0)
{
AP_Param::setup_object_defaults(this, var_info);
@ -268,7 +270,7 @@ void AC_PosControl::pos_to_rate_z()
}
// check kP to avoid division by zero
if (_p_alt_pos.kP() != 0) {
if (_p_alt_pos.kP() != 0.0f) {
linear_distance = _accel_z_cms/(2.0f*_p_alt_pos.kP()*_p_alt_pos.kP());
if (_pos_error.z > 2*linear_distance ) {
_vel_target.z = safe_sqrt(2.0f*_accel_z_cms*(_pos_error.z-linear_distance));