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Commit 9bdc9aad authored by Martina's avatar Martina Committed by Daniel Agar
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mc_pos_control: use defines for point size and number of points in

trajectory_waypoint
parent c84e651e
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......@@ -3579,9 +3579,8 @@ void MulticopterPositionControl::update_avoidance_waypoint_desired(const int poi
void
MulticopterPositionControl::reset_avoidance_waypoint_desired()
{
const int point_size = 11;
for (int i = 0; i < point_size; ++i) {
for (int i = 0; i < trajectory_waypoint_s::POINT_SIZE; ++i) {
_traj_wp_avoidance_desired.point_0[i] = NAN;
_traj_wp_avoidance_desired.point_1[i] = NAN;
_traj_wp_avoidance_desired.point_2[i] = NAN;
......@@ -3589,9 +3588,7 @@ MulticopterPositionControl::reset_avoidance_waypoint_desired()
_traj_wp_avoidance_desired.point_4[i] = NAN;
}
const int number_points = 5;
for (int i = 0; i < number_points; ++i) {
for (int i = 0; i < trajectory_waypoint_s::NUMBER_POINTS; ++i) {
_traj_wp_avoidance_desired.point_valid[i] = 0;
}
}
......
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