zr-v4

Paul Riseborough 9f309a2aa6 AP_L1_Control: Remove potential nan errors If WP A and B were the same or ground speed was exactly zero, then the previous code would produce a nan output. Protection against these two cases has been added. If WP A and B are equal, we track directly to the target waypoint		12 years ago
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AP_L1_Control.cpp	AP_L1_Control: Remove potential nan errors	12 years ago
AP_L1_Control.h	AP_L1_Control: Cleaned up calculation of damping to reduce computations	12 years ago
keywords.txt	AP_L1_Control: Addition of library for geometry calculations required for L1 Control.	12 years ago