Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-03-03 04:03:59 -04:00
Code Issues Packages Projects Releases Wiki Activity

Copter: compassmot: use is_positive for float comparison

Browse Source 
tridge noted on the DevCall that very, very small numbers could yield
numerical errors during divisions further down
This commit is contained in:
Peter Barker 2022-01-04 10:40:26 +11:00 committed by Peter Barker
parent adff48c3ea
commit 709679ed60
1 changed files with 1 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
ArduCopter/compassmot.cpp
View File

@ -169,7 +169,7 @@ MAV_RESULT Copter::mavlink_compassmot(const GCS_MAVLINK &gcs_chan)
current_amps_max = MAX(current_amps_max, current);
// if throttle is near zero, update base x,y,z values
if (throttle_pct <= 0.0f) {
if (!is_positive(throttle_pct)) {
for (uint8_t i=0; i<compass.get_count(); i++) {
compass_base[i] = compass_base[i] * 0.99f + compass.get_field(i) * 0.01f;
}