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AP_L1_Control: prevent another NaN in L1

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This commit is contained in:
Andrew Tridgell 2014-08-14 14:09:09 +10:00
parent 85213dccbf
commit df3c565cd8
1 changed files with 3 additions and 0 deletions
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3
libraries/AP_L1_Control/AP_L1_Control.cpp
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@ -169,6 +169,9 @@ void AP_L1_Control::update_waypoint(const struct Location &prev_WP, const struct
// if too small
if (AB.length() < 1.0e-6f) {
AB = location_diff(_current_loc, next_WP);
if (AB.length() < 1.0e-6f) {
AB = Vector2f(cosf(_ahrs.yaw), sinf(_ahrs.yaw));
}
}
AB.normalize();