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AR_WPNav: add internal error if invalid destination received

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This commit is contained in:
Randy Mackay 2022-01-03 10:06:42 +09:00
parent 461c5196e7
commit 1fd9da710d
1 changed files with 2 additions and 0 deletions
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2
libraries/AR_WPNav/AR_WPNav.cpp
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@ -207,6 +207,7 @@ bool AR_WPNav::set_desired_location(const struct Location& destination, Location
Vector2f destination_NE;
if (!_origin.get_vector_xy_from_origin_NE(origin_NE) ||
!_destination.get_vector_xy_from_origin_NE(destination_NE)) {
INTERNAL_ERROR(AP_InternalError::error_t::flow_of_control);
return false;
}
origin_NE *= 0.01f;
@ -240,6 +241,7 @@ bool AR_WPNav::set_desired_location(const struct Location& destination, Location
// convert next_destination to offset from EKF origin
Vector2f next_destination_NE;
if (!next_destination.get_vector_xy_from_origin_NE(next_destination_NE)) {
INTERNAL_ERROR(AP_InternalError::error_t::flow_of_control);
return false;
}
next_destination_NE *= 0.01f;