AC_PosControl: Fix divide by zero check in limit_vector_length

7 years ago · b15b5516cb
1 changed files with 1 additions and 1 deletions
--- a/libraries/AC_AttitudeControl/AC_PosControl.cpp
+++ b/libraries/AC_AttitudeControl/AC_PosControl.cpp
@ -1197,7 +1197,7 @@ void AC_PosControl::check_for_ekf_z_reset()
				@@ -1197,7 +1197,7 @@ void AC_PosControl::check_for_ekf_z_reset()
 bool AC_PosControl::limit_vector_length(float& vector_x, float& vector_y, float max_length)
 {
    float vector_length = norm(vector_x, vector_y);
-    if ((vector_length > max_length) && is_positive(max_length)) {
+    if ((vector_length > max_length) && is_positive(vector_length)) {
        vector_x *= (max_length / vector_length);
        vector_y *= (max_length / vector_length);
        return true;