mixer: FunctionMotors: compare against FLT_EPSILON instead of 0.f

Signed-off-by: Silvan Fuhrer <[email protected]>
PX4 · Dec 13, 2024 · 4db55cd · 4db55cd
1 parent d7904b5
commit 4db55cd
Showing 1 changed file with 4 additions and 6 deletions.
diff --git a/src/lib/mixer_module/functions/FunctionMotors.hpp b/src/lib/mixer_module/functions/FunctionMotors.hpp
@@ -76,7 +76,7 @@ class FunctionMotors : public FunctionProviderBase
 
 	static inline void updateValues(uint32_t reversible, float thrust_factor, float *values, int num_values)
 	{
-		if (thrust_factor > 0.f && thrust_factor <= 1.f) {
+		if (thrust_factor > FLT_EPSILON && thrust_factor <= 1.f) {
 			// thrust factor
 			//  rel_thrust = factor * x^2 + (1-factor) * x,
 			const float a = thrust_factor;
@@ -88,17 +88,15 @@ class FunctionMotors : public FunctionProviderBase
 
 			for (int i = 0; i < num_values; ++i) {
 
-				float control = values[i];
+				const float control = values[i];
 
 				if (PX4_ISFINITE(control)) {
-					if (control > 0.f) {
+					if (control > FLT_EPSILON) {
 						values[i] = -tmp1 + sqrtf(tmp2 + (control / a));
 
-					} else if (control < -0.f) {
+					} else if (control < -FLT_EPSILON) {
 						values[i] =  tmp1 - sqrtf(tmp2 - (control / a));
 
-					} else {
-						values[i] = 0.f;
 					}
 				}
 			}