AP_NPFG: disable gain scaling to avoid div zero error

Signed-off-by: Rhys Mainwaring <[email protected]>
ArduPilot · Feb 22, 2024 · df67426 · df67426
1 parent 5d3a4ea
commit df67426
Showing 1 changed file with 3 additions and 1 deletion.
diff --git a/libraries/AP_NPFG/npfg.cpp b/libraries/AP_NPFG/npfg.cpp
@@ -465,7 +465,9 @@ float NPFG::lateralAccel(const Vector2f &air_vel, const Vector2f &air_vel_ref, c
     } else {
         // airspeed/airspeed_ref is used to scale any incremented airspeed reference back to the current airspeed
         // for acceleration commands in a "feedback" sense (i.e. at the current vehicle airspeed)
-        return p_gain_ * cross_air_vel_err / airspeed_ref_;
+        //! @todo(srmainwaring) - reenable gain scaling
+        // return p_gain_ * cross_air_vel_err / airspeed_ref_;
+        return p_gain_;
     }
 } // lateralAccel