From 6c24f80669e613ac0174dbdca5b577931066e50d Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Wed, 27 Dec 2023 11:42:31 +0900 Subject: [PATCH] AC_Avoidance: Dijsktras comment and const fix --- libraries/AC_Avoidance/AP_OADijkstra.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/libraries/AC_Avoidance/AP_OADijkstra.cpp b/libraries/AC_Avoidance/AP_OADijkstra.cpp index 0083f64795c82..f5150cd6ea32c 100644 --- a/libraries/AC_Avoidance/AP_OADijkstra.cpp +++ b/libraries/AC_Avoidance/AP_OADijkstra.cpp @@ -179,7 +179,7 @@ AP_OADijkstra::AP_OADijkstra_State AP_OADijkstra::update(const Location ¤t // path has been created, return latest point Vector2f dest_pos; - uint8_t path_length = get_shortest_path_numpoints() > 0 ? (get_shortest_path_numpoints() - 1) : 0; + const uint8_t path_length = get_shortest_path_numpoints() > 0 ? (get_shortest_path_numpoints() - 1) : 0; if ((_path_idx_returned < path_length) && get_shortest_path_point(_path_idx_returned, dest_pos)) { // for the first point return origin as current_loc @@ -199,7 +199,7 @@ AP_OADijkstra::AP_OADijkstra_State AP_OADijkstra::update(const Location ¤t destination_new.lat = temp_loc.lat; destination_new.lng = temp_loc.lng; - // if present also provide next destination if present to allow smooth cornering + // provide next destination to allow smooth cornering next_destination_new.zero(); Vector2f next_dest_pos; if ((_path_idx_returned + 1 < path_length) && get_shortest_path_point(_path_idx_returned + 1, next_dest_pos)) {