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AP_Follow: vector params always use set method

This commit is contained in:
Iampete1 2022-07-20 10:43:20 +01:00 committed by Peter Hall
parent 90780e52b3
commit b025a6d41d
1 changed files with 3 additions and 3 deletions
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6
libraries/AP_Follow/AP_Follow.cpp
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@ -147,7 +147,7 @@ AP_Follow::AP_Follow() :
void AP_Follow::clear_offsets_if_required()
{
if (_offsets_were_zero) {
_offset = Vector3f();
_offset.set(Vector3f());
}
_offsets_were_zero = false;
}
@ -440,11 +440,11 @@ void AP_Follow::init_offsets_if_required(const Vector3f &dist_vec_ned)
float target_heading_deg;
if ((_offset_type == AP_FOLLOW_OFFSET_TYPE_RELATIVE) && get_target_heading_deg(target_heading_deg)) {
// rotate offsets from north facing to vehicle's perspective
_offset = rotate_vector(-dist_vec_ned, -target_heading_deg);
_offset.set(rotate_vector(-dist_vec_ned, -target_heading_deg));
gcs().send_text(MAV_SEVERITY_INFO, "Relative follow offset loaded");
} else {
// initialise offset in NED frame
_offset = -dist_vec_ned;
_offset.set(-dist_vec_ned);
// ensure offset_type used matches frame of offsets saved
_offset_type.set(AP_FOLLOW_OFFSET_TYPE_NED);
gcs().send_text(MAV_SEVERITY_INFO, "N-E-D follow offset loaded");