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AP_L1_Control : Fixed potential divide by zero in Nu1 angle calculation

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priseborough 2013-04-14 23:34:06 +10:00 committed by Andrew Tridgell
parent 82cd391cf8
commit 9ff0888a17
1 changed files with 1 additions and 1 deletions
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libraries/AP_L1_Control/AP_L1_Control.cpp
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@ -141,7 +141,7 @@ void AP_L1_Control::update_waypoint(const struct Location &prev_WP, const struct
//Calculate Nu1 angle (Angle to L1 reference point)
float xtrackErr = _cross2D(A_air, AB_unit);
float sine_Nu1 = xtrackErr/_L1_dist;
float sine_Nu1 = xtrackErr/_maxf(_L1_dist , 0.1f);
//Limit sine of Nu1 to provide a controlled track capture angle of 45 deg
sine_Nu1 = constrain(sine_Nu1, -0.7854f, 0.7854f);
float Nu1 = asinf(sine_Nu1);