AP_L1_Control: prevent another NaN in L1

11 years ago · df3c565cd8
1 changed files with 3 additions and 0 deletions
--- a/libraries/AP_L1_Control/AP_L1_Control.cpp
+++ b/libraries/AP_L1_Control/AP_L1_Control.cpp
@ -169,6 +169,9 @@ void AP_L1_Control::update_waypoint(const struct Location &prev_WP, const struct
				@@ -169,6 +169,9 @@ void AP_L1_Control::update_waypoint(const struct Location &prev_WP, const struct
 	// if too small
 	if (AB.length() < 1.0e-6f) {
 		AB = location_diff(_current_loc, next_WP);
+        if (AB.length() < 1.0e-6f) {
+            AB = Vector2f(cosf(_ahrs.yaw), sinf(_ahrs.yaw));
+        }
 	}
 	AB.normalize();