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FlightTaskAutoLine: check if yaw_wp is finite

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Dennis Mannhart
2018-07-20 09:26:18 +02:00
committed by Lorenz Meier
parent 558a0f892c
commit 5551021d23
1 changed files with 6 additions and 1 deletions
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src/lib/FlightTasks/tasks/FlightTaskAutoLine.cpp
+6 -1
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@@ -327,7 +327,12 @@ void FlightTaskAutoLine::_generateXYsetpoints()
/* Vehicle is still far from destination. Accelerate or keep maximum target speed */
float acc_track = (speed_sp_track - speed_sp_prev_track) / _deltatime;
float yaw_diff = _wrap_pi(_yaw_wp - _yaw);
float yaw_diff = 0.0f;
if (PX4_ISFINITE(_yaw_wp)) {
yaw_diff = _wrap_pi(_yaw_wp - _yaw);
}
/* If yaw offset is large, only accelerate with 0.5 m/s^2 */
float acc_max = (fabsf(yaw_diff) > math::radians(_mis_yaw_error.get())) ? 0.5f : _acc_xy.get();