rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2025-03-15 07:29:15 +01:00
Code Issues Releases Activity

Revert to the original behaviour of calling "fly_endpoint" if we have a

Browse Source 
zero-length path.
This commit is contained in:
Werner Backes 2014-07-31 10:52:06 +02:00
parent 9ab6299247
commit 70e34f44cf
1 changed files with 4 additions and 5 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

9
flight/libraries/paths.c
View File

@ -166,12 +166,11 @@ static void path_vector(float *start_point, float *end_point, float *cur_point,
status->path_direction[2] = path[2] / dist_path;
status->fractional_progress = dot / (dist_path * dist_path);
} else {
// if the path is too short, we cannot determine vector direction.
// Assume progress=1 and zero-length path.
status->path_direction[0] = 0;
status->path_direction[1] = 0;
status->path_direction[2] = 0;
// Fly towards the endpoint to prevent flying away,
// but assume progress=1 either way.
path_endpoint(start_point, end_point, cur_point, status);
status->fractional_progress = 1;
return;
}
// Compute point on track that is closest to our current position.