From 70568225a6961e3b6311e51a0f19aaf9d3f4a938 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Mon, 14 Jul 2014 23:30:23 +0900 Subject: [PATCH] AC_PosControl: init members to resolve compiler warnings --- libraries/AC_AttitudeControl/AC_PosControl.cpp | 10 ++++++---- 1 file changed, 6 insertions(+), 4 deletions(-) diff --git a/libraries/AC_AttitudeControl/AC_PosControl.cpp b/libraries/AC_AttitudeControl/AC_PosControl.cpp index b314f89511..bae032df4d 100644 --- a/libraries/AC_AttitudeControl/AC_PosControl.cpp +++ b/libraries/AC_AttitudeControl/AC_PosControl.cpp @@ -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));