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FlightTask Smoothing: check dt before dividing

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This commit is contained in:
ChristophTobler
2018-08-12 09:37:05 -04:00
committed by Daniel Agar
parent 9a23295a40
commit d3d549b8e6
2 changed files with 11 additions and 2 deletions
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src/lib/FlightTasks/tasks/Utility/ManualSmoothingXY.cpp
+5 -1
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@@ -197,7 +197,11 @@ void
ManualSmoothingXY::_velocitySlewRate(matrix::Vector2f &vel_sp, const float dt)
{
// Adjust velocity setpoint if demand exceeds acceleration. /
matrix::Vector2f acc = (vel_sp - _vel_sp_prev) / dt;
matrix::Vector2f acc{};
if (dt > FLT_EPSILON) {
acc = (vel_sp - _vel_sp_prev) / dt;
}
if (acc.length() > _acc_state_dependent) {
vel_sp = acc.normalized() * _acc_state_dependent * dt + _vel_sp_prev;