diff options
| -rw-r--r-- | src/lib/ecl/l1/ecl_l1_pos_controller.cpp | 2 |
1 files changed, 1 insertions, 1 deletions
diff --git a/src/lib/ecl/l1/ecl_l1_pos_controller.cpp b/src/lib/ecl/l1/ecl_l1_pos_controller.cpp index 196ded26c..27d76f959 100644 --- a/src/lib/ecl/l1/ecl_l1_pos_controller.cpp +++ b/src/lib/ecl/l1/ecl_l1_pos_controller.cpp @@ -190,7 +190,7 @@ void ECL_L1_Pos_Controller::navigate_waypoints(const math::Vector2f &vector_A, c float xtrackErr = vector_A_to_airplane % vector_AB; float sine_eta1 = xtrackErr / math::max(_L1_distance , 0.1f); /* limit output to 45 degrees */ - sine_eta1 = math::constrain(sine_eta1, -M_PI_F / 4.0f, +M_PI_F / 4.0f); + sine_eta1 = math::constrain(sine_eta1, -0.7071f, 0.7071f); //sin(pi/4) = 0.7071 float eta1 = asinf(sine_eta1); eta = eta1 + eta2; /* bearing from current position to L1 point */ |