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AC_Loiter: protect against negative angle max

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Iampete1 2021-09-12 15:32:30 +01:00 committed by Randy Mackay
parent ffac134014
commit febf843e6d
1 changed files with 1 additions and 1 deletions
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2
libraries/AC_WPNav/AC_Loiter.cpp
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@ -185,7 +185,7 @@ void AC_Loiter::get_stopping_point_xy(Vector2f& stopping_point) const
/// get maximum lean angle when using loiter /// get maximum lean angle when using loiter
float AC_Loiter::get_angle_max_cd() const float AC_Loiter::get_angle_max_cd() const
{ {
if (is_zero(_angle_max)) { if (!is_positive(_angle_max)) {
return MIN(_attitude_control.lean_angle_max_cd(), _pos_control.get_lean_angle_max_cd()) * (2.0f/3.0f); return MIN(_attitude_control.lean_angle_max_cd(), _pos_control.get_lean_angle_max_cd()) * (2.0f/3.0f);
} }
return MIN(_angle_max*100.0f, _pos_control.get_lean_angle_max_cd()); return MIN(_angle_max*100.0f, _pos_control.get_lean_angle_max_cd());