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AC_PosControl: Fix divide by zero check in limit_vector_length

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Leonard Hall 2018-09-11 23:21:45 +09:30 committed by Randy Mackay
parent aa0d8cb386
commit 4afb6a5d2c
1 changed files with 1 additions and 1 deletions
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2
libraries/AC_AttitudeControl/AC_PosControl.cpp
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@ -1197,7 +1197,7 @@ void AC_PosControl::check_for_ekf_z_reset()
bool AC_PosControl::limit_vector_length(float& vector_x, float& vector_y, float max_length) bool AC_PosControl::limit_vector_length(float& vector_x, float& vector_y, float max_length)
{ {
float vector_length = norm(vector_x, vector_y); float vector_length = norm(vector_x, vector_y);
if ((vector_length > max_length) && is_positive(max_length)) { if ((vector_length > max_length) && is_positive(vector_length)) {
vector_x *= (max_length / vector_length); vector_x *= (max_length / vector_length);
vector_y *= (max_length / vector_length); vector_y *= (max_length / vector_length);
return true; return true;