Fix style and include acceptance_radius comparison

mavlink · May 24, 2021 · a099080 · a099080
1 parent 3029732
commit a099080
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Showing 4 changed files with 9 additions and 6 deletions.
diff --git a/src/integration_tests/mission.cpp b/src/integration_tests/mission.cpp
@@ -286,7 +286,7 @@ Mission::MissionItem add_mission_item(
     float gimbal_pitch_deg,
     float gimbal_yaw_deg,
     float loiter_time_s,
-    float acceptance_radius_m
+    float acceptance_radius_m,
     Mission::MissionItem::CameraAction camera_action)
 {
     Mission::MissionItem new_item{};
@@ -299,7 +299,7 @@ Mission::MissionItem add_mission_item(
     new_item.gimbal_yaw_deg = gimbal_yaw_deg;
     new_item.loiter_time_s = loiter_time_s;
     new_item.camera_action = camera_action;
-    new_item.acceptance_radius_m = camera_action;
+    new_item.acceptance_radius_m = acceptance_radius_m;
 
     // In order to test setting the interval, add it here.
     if (camera_action == Mission::MissionItem::CameraAction::StartPhotoInterval) {

diff --git a/src/plugins/mission/include/plugins/mission/mission.h b/src/plugins/mission/include/plugins/mission/mission.h
@@ -100,7 +100,8 @@ class Mission : public PluginBase {
         float loiter_time_s{float(NAN)}; /**< @brief Loiter time (in seconds) */
         double camera_photo_interval_s{
             1.0}; /**< @brief Camera photo interval to use after this mission item (in seconds) */
-        float acceptance_radius_m{float(NAN)}; /**< @brief Radius for completing a mission item (in metres) */
+        float acceptance_radius_m{
+            float(NAN)}; /**< @brief Radius for completing a mission item (in metres) */
     };
 
     /**

diff --git a/src/plugins/mission/mission.cpp b/src/plugins/mission/mission.cpp
@@ -152,7 +152,9 @@ bool operator==(const Mission::MissionItem& lhs, const Mission::MissionItem& rhs
            ((std::isnan(rhs.loiter_time_s) && std::isnan(lhs.loiter_time_s)) ||
             rhs.loiter_time_s == lhs.loiter_time_s) &&
            ((std::isnan(rhs.camera_photo_interval_s) && std::isnan(lhs.camera_photo_interval_s)) ||
-            rhs.camera_photo_interval_s == lhs.camera_photo_interval_s);
+            rhs.camera_photo_interval_s == lhs.camera_photo_interval_s) &&
+           ((std::isnan(rhs.acceptance_radius_m) && std::isnan(lhs.acceptance_radius_m)) ||
+            rhs.acceptance_radius_m == lhs.acceptance_radius_m);
 }
 
 std::ostream& operator<<(std::ostream& str, Mission::MissionItem const& mission_item)
@@ -169,6 +171,7 @@ std::ostream& operator<<(std::ostream& str, Mission::MissionItem const& mission_
     str << "    camera_action: " << mission_item.camera_action << '\n';
     str << "    loiter_time_s: " << mission_item.loiter_time_s << '\n';
     str << "    camera_photo_interval_s: " << mission_item.camera_photo_interval_s << '\n';
+    str << "    acceptance_radius_m: " << mission_item.acceptance_radius_m << '\n';
     str << '}';
     return str;
 }

diff --git a/src/plugins/mission/mission_impl.cpp b/src/plugins/mission/mission_impl.cpp
@@ -269,8 +269,7 @@ float MissionImpl::acceptance_radius(const MissionItem& item)
     float acceptance_radius_m;
     if (std::isfinite(item.acceptance_radius_m)) {
         acceptance_radius_m = item.acceptance_radius_m;
-    }
-    else if (item.is_fly_through) {
+    } else if (item.is_fly_through) {
         // _acceptance_radius_m is 0, determine the radius using fly_through
         acceptance_radius_m = 3.0f;
     } else {