mirror of https://github.com/ArduPilot/ardupilot
37 lines
812 B
C++
37 lines
812 B
C++
#include "AP_Math.h"
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#include <float.h>
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// a varient of asin() that checks the input ranges and ensures a
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// valid angle as output. If nan is given as input then zero is
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// returned.
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float safe_asin(float v)
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{
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if (isnan(v)) {
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return 0.0f;
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}
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if (v >= 1.0f) {
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return M_PI/2;
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}
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if (v <= -1.0f) {
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return -M_PI/2;
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}
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return asinf(v);
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}
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// a varient of sqrt() that checks the input ranges and ensures a
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// valid value as output. If a negative number is given then 0 is
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// returned. The reasoning is that a negative number for sqrt() in our
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// code is usually caused by small numerical rounding errors, so the
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// real input should have been zero
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float safe_sqrt(float v)
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{
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float ret = sqrtf(v);
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if (isnan(ret)) {
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return 0;
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}
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return ret;
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}
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