From e2ced65c046c3eb4cb57ab424734520c396a7212 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Sat, 29 Jan 2022 21:01:03 +1100 Subject: [PATCH] AP_Avoidance: tidy construction of vector on stack --- libraries/AP_Avoidance/AP_Avoidance.cpp | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) diff --git a/libraries/AP_Avoidance/AP_Avoidance.cpp b/libraries/AP_Avoidance/AP_Avoidance.cpp index baac68d4f2..4f4921da24 100644 --- a/libraries/AP_Avoidance/AP_Avoidance.cpp +++ b/libraries/AP_Avoidance/AP_Avoidance.cpp @@ -599,9 +599,11 @@ void AP_Avoidance::handle_msg(const mavlink_message_t &msg) int32_t(packet.alt * 0.1), // mm -> cm Location::AltFrame::ABSOLUTE }; - Vector3f vel = Vector3f(packet.vx/100.0f, // cm to m - packet.vy/100.0f, - packet.vz/100.0f); + const Vector3f vel { + packet.vx * 0.01f, // cm to m + packet.vy * 0.01f, + packet.vz * 0.01f + }; add_obstacle(AP_HAL::millis(), MAV_COLLISION_SRC_MAVLINK_GPS_GLOBAL_INT, msg.sysid,