From c03e50660c2474730225bf014c730695f91ad1a1 Mon Sep 17 00:00:00 2001
From: "liang.tang" <466175335@qq.com>
Date: Tue, 10 Jul 2018 14:54:57 +0800
Subject: [PATCH] AC_WPNav: check validity of kP

---
 libraries/AC_WPNav/AC_WPNav.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AC_WPNav/AC_WPNav.cpp b/libraries/AC_WPNav/AC_WPNav.cpp
index b0d18df3e0..0d9f9d2951 100644
--- a/libraries/AC_WPNav/AC_WPNav.cpp
+++ b/libraries/AC_WPNav/AC_WPNav.cpp
@@ -386,7 +386,7 @@ bool AC_WPNav::advance_wp_target_along_track(float dt)
     // calculate point at which velocity switches from linear to sqrt
     float linear_velocity = _wp_speed_cms;
     float kP = _pos_control.get_pos_xy_p().kP();
-    if (kP >= 0.0f) {   // avoid divide by zero
+    if (is_positive(kP)) {   // avoid divide by zero
         linear_velocity = _track_accel/kP;
     }