diff options
Diffstat (limited to 'src/modules/navigator')
| -rw-r--r-- | src/modules/navigator/mission_block.cpp | 4 | ||||
| -rw-r--r-- | src/modules/navigator/rtl.cpp | 2 |
2 files changed, 4 insertions, 2 deletions
diff --git a/src/modules/navigator/mission_block.cpp b/src/modules/navigator/mission_block.cpp index 9b8d3d9c7..26a573544 100644 --- a/src/modules/navigator/mission_block.cpp +++ b/src/modules/navigator/mission_block.cpp @@ -42,6 +42,8 @@ #include <string.h> #include <stdlib.h> #include <unistd.h> +#include <math.h> +#include <float.h> #include <systemlib/err.h> #include <geo/geo.h> @@ -222,7 +224,7 @@ MissionBlock::set_loiter_item(struct position_setpoint_triplet_s *pos_sp_triplet } if (pos_sp_triplet->current.type != SETPOINT_TYPE_LOITER - || pos_sp_triplet->current.loiter_radius != _navigator->get_loiter_radius() + || (fabsf(pos_sp_triplet->current.loiter_radius - _navigator->get_loiter_radius()) > FLT_EPSILON) || pos_sp_triplet->current.loiter_direction != 1 || pos_sp_triplet->previous.valid || !pos_sp_triplet->current.valid diff --git a/src/modules/navigator/rtl.cpp b/src/modules/navigator/rtl.cpp index 043f773a4..597a2c0ec 100644 --- a/src/modules/navigator/rtl.cpp +++ b/src/modules/navigator/rtl.cpp @@ -227,7 +227,7 @@ RTL::set_rtl_item(position_setpoint_triplet_s *pos_sp_triplet) _navigator->set_can_loiter_at_sp(true); if (autoland) { - mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: RTL: loiter %.1fs", _mission_item.time_inside); + mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: RTL: loiter %.1fs", (double)_mission_item.time_inside); } else { mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: RTL: completed, loiter"); |