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AC_WPNav: protect against div-by-zero related to gnd_speed_limit

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This commit is contained in:
Randy Mackay 2015-04-28 13:49:25 +09:00
parent 7481217445
commit 33431acaa4
1 changed files with 3 additions and 2 deletions
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5
libraries/AC_WPNav/AC_WPNav.cpp
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@ -230,9 +230,10 @@ void AC_WPNav::get_loiter_stopping_point_xy(Vector3f& stopping_point) const
/// updated velocity sent directly to position controller
void AC_WPNav::calc_loiter_desired_velocity(float nav_dt, float ekfGndSpdLimit)
{
// calculate a loieter speed limit wich is the minimum of the value set by the WPNAV_LOITER_SPEED
// parameter or the value set by the EKF to observe optical flow limits
// calculate a loiter speed limit which is the minimum of the value set by the WPNAV_LOITER_SPEED
// parameter and the value set by the EKF to observe optical flow limits
float gnd_speed_limit_cms = min(_loiter_speed_cms,ekfGndSpdLimit*100.0f);
gnd_speed_limit_cms = max(gnd_speed_limit_cms, 10.0f);
// range check nav_dt
if( nav_dt < 0 ) {