Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-08 17:08:28 -04:00
Code Issues Packages Projects Releases Wiki Activity

AC_WPNav: check validity of kP

Browse Source
This commit is contained in:
liang.tang 2018-07-10 14:54:57 +08:00 committed by Randy Mackay
parent 7e166a4a38
commit c03e50660c
1 changed files with 1 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
libraries/AC_WPNav/AC_WPNav.cpp
View File

@ -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;
}