From 8abbbe57139bfa335cdeefb86aecdb5a71c5bd90 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Mon, 5 Mar 2012 22:40:37 +1100
Subject: [PATCH] AP_Math: better way of handling safe_sqrt()

better to test the result, than predict it
---
 libraries/AP_Math/AP_Math.cpp | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/libraries/AP_Math/AP_Math.cpp b/libraries/AP_Math/AP_Math.cpp
index f4896ef38b..e0af504ea3 100644
--- a/libraries/AP_Math/AP_Math.cpp
+++ b/libraries/AP_Math/AP_Math.cpp
@@ -24,10 +24,11 @@ float safe_asin(float v)
 // real input should have been zero
 float safe_sqrt(float v)
 {
-	if (isnan(v) || v <= 0.0) {
-		return 0.0;
+	float ret = sqrt(v);
+	if (isnan(ret)) {
+		return 0;
 	}
-	return sqrt(v);
+	return ret;
 }