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AC_PosControl: Add MAX(bla,0) because safe_sqrt isn't safe

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Leonard Hall 2021-07-21 14:23:47 +09:30 committed by Randy Mackay
parent 6d6ab89a72
commit 9d845759f8
1 changed files with 3 additions and 1 deletions
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4
libraries/AC_AttitudeControl/AC_PosControl.cpp
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@ -1184,7 +1184,9 @@ float AC_PosControl::crosstrack_error() const
// crosstrack is the horizontal distance to the closest point to the current track
const Vector2f vel_unit = _vel_desired.xy().normalized();
const float dot_error = pos_error * vel_unit;
return safe_sqrt(pos_error.length_squared() - sq(dot_error));
// todo: remove MAX of zero when safe_sqrt fixed
return safe_sqrt(MAX(pos_error.length_squared() - sq(dot_error), 0.0));
}
}