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AC_WPNav: do not calculate NEU vector from invalid location

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This commit is contained in:
Peter Barker 2019-09-10 14:41:14 +10:00 committed by Andrew Tridgell
parent 14f43f24a9
commit 89cfdb678f
1 changed files with 12 additions and 9 deletions
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21
libraries/AC_WPNav/AC_WPNav.cpp
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@ -603,16 +603,19 @@ bool AC_WPNav::set_spline_destination(const Location& destination, bool stopped_
return false;
}
// make altitude frames consistent
if (!next_destination.change_alt_frame(destination.get_alt_frame())) {
return false;
}
Vector3f next_dest_neu; // left uninitialised for valgrind
if (seg_end_type == SEGMENT_END_STRAIGHT ||
seg_end_type == SEGMENT_END_SPLINE) {
// make altitude frames consistent
if (!next_destination.change_alt_frame(destination.get_alt_frame())) {
return false;
}
// convert next destination to vector
Vector3f next_dest_neu;
bool next_dest_terr_alt;
if (!get_vector_NEU(next_destination, next_dest_neu, next_dest_terr_alt)) {
return false;
// convert next destination to vector
bool next_dest_terr_alt;
if (!get_vector_NEU(next_destination, next_dest_neu, next_dest_terr_alt)) {
return false;
}
}
// set target as vector from EKF origin