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Plane: avoid arithmetic exception in powf

mission-4.1.18
Mark Whitehorn 6 years ago committed by Andrew Tridgell
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732ed17f2f
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0a78368590
1 changed files with 4 additions and 1 deletions
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  1. 5
      ArduPlane/tailsitter.cpp

5
ArduPlane/tailsitter.cpp
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@ -131,7 +131,10 @@ void QuadPlane::tailsitter_output(void) @@ -131,7 +131,10 @@ void QuadPlane::tailsitter_output(void)
int32_t pitch_error_cd = (plane.nav_pitch_cd - ahrs_view->pitch_sensor) * 0.5;
float extra_pitch = constrain_float(pitch_error_cd, -SERVO_MAX, SERVO_MAX) / SERVO_MAX;
float extra_sign = extra_pitch > 0?1:-1;
float extra_elevator = extra_sign * powf(fabsf(extra_pitch), tailsitter.vectored_hover_power) * SERVO_MAX;
float extra_elevator = 0;
if (!is_zero(extra_pitch)) {
extra_elevator = extra_sign * powf(fabsf(extra_pitch), tailsitter.vectored_hover_power) * SERVO_MAX;
}
tilt_left = extra_elevator + tilt_left * tailsitter.vectored_hover_gain;
tilt_right = extra_elevator + tilt_right * tailsitter.vectored_hover_gain;
if (fabsf(tilt_left) >= SERVO_MAX || fabsf(tilt_right) >= SERVO_MAX) {

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