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Plane: Fixed divide by zero error when transitioning to guided

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mattbooker 2022-09-06 21:56:33 -04:00 committed by Randy Mackay
parent 6e009a82ed
commit e4b4d00645
1 changed files with 5 additions and 1 deletions
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6
ArduPlane/quadplane.cpp
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@ -2501,7 +2501,11 @@ void QuadPlane::vtol_position_controller(void)
const float distance = diff_wp.length(); const float distance = diff_wp.length();
const Vector2f rel_groundspeed_vector = landing_closing_velocity(); const Vector2f rel_groundspeed_vector = landing_closing_velocity();
const float rel_groundspeed_sq = rel_groundspeed_vector.length_squared(); const float rel_groundspeed_sq = rel_groundspeed_vector.length_squared();
const float closing_groundspeed = rel_groundspeed_vector * diff_wp.normalized(); float closing_groundspeed = 0;
if (distance > 0.1) {
closing_groundspeed = rel_groundspeed_vector * diff_wp.normalized();
}
// calculate speed we should be at to reach the position2 // calculate speed we should be at to reach the position2
// target speed at the position2 distance threshold, assuming // target speed at the position2 distance threshold, assuming