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AP_Mount: get_angle_target_to_location checks for valid location

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Randy Mackay 2022-08-23 21:03:46 +09:00 committed by Andrew Tridgell
parent 41c319e257
commit 119c8b7363
1 changed files with 5 additions and 0 deletions
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libraries/AP_Mount/AP_Mount_Backend.cpp
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@ -252,6 +252,11 @@ bool AP_Mount_Backend::get_angle_target_to_location(const Location &loc, MountTa
return false; return false;
} }
// exit immediate if location is invalid
if (!loc.initialised()) {
return false;
}
const float GPS_vector_x = Location::diff_longitude(loc.lng, current_loc.lng)*cosf(ToRad((current_loc.lat + loc.lat) * 0.00000005f)) * 0.01113195f; const float GPS_vector_x = Location::diff_longitude(loc.lng, current_loc.lng)*cosf(ToRad((current_loc.lat + loc.lat) * 0.00000005f)) * 0.01113195f;
const float GPS_vector_y = (loc.lat - current_loc.lat) * 0.01113195f; const float GPS_vector_y = (loc.lat - current_loc.lat) * 0.01113195f;
int32_t target_alt_cm = 0; int32_t target_alt_cm = 0;