From 4b63c5488582241c7e3af45dce74c112dbfa60bd Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Sun, 27 Oct 2013 14:48:12 +0100 Subject: [PATCH] l1: fix constrain of sine_eta1 --- src/lib/ecl/l1/ecl_l1_pos_controller.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/lib/ecl/l1/ecl_l1_pos_controller.cpp b/src/lib/ecl/l1/ecl_l1_pos_controller.cpp index 196ded26ca..27d76f959c 100644 --- a/src/lib/ecl/l1/ecl_l1_pos_controller.cpp +++ b/src/lib/ecl/l1/ecl_l1_pos_controller.cpp @@ -190,7 +190,7 @@ void ECL_L1_Pos_Controller::navigate_waypoints(const math::Vector2f &vector_A, c float xtrackErr = vector_A_to_airplane % vector_AB; float sine_eta1 = xtrackErr / math::max(_L1_distance , 0.1f); /* limit output to 45 degrees */ - sine_eta1 = math::constrain(sine_eta1, -M_PI_F / 4.0f, +M_PI_F / 4.0f); + sine_eta1 = math::constrain(sine_eta1, -0.7071f, 0.7071f); //sin(pi/4) = 0.7071 float eta1 = asinf(sine_eta1); eta = eta1 + eta2; /* bearing from current position to L1 point */