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fix(foc utils): restore the FLT_MIN guard in _atan2() - #583
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stijncarelsbergh wants to merge 1 commit into
Open
stijncarelsbergh wants to merge 1 commit into
stijncarelsbergh wants to merge 1 commit into
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The comment says 'inject FLT_MIN in denominator to avoid division by zero' but the term is missing (it was dropped from the ODrive original), so _atan2(0,0) is 0/0 and returns NaN instead of 0. Restores the original guard, which only affects the degenerate (0,0) case.
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fix(foc utils): restore the FLT_MIN guard in _atan2()
The comment says 'inject FLT_MIN in denominator to avoid division by zero' but the
term is missing (it was dropped from the ODrive original), so _atan2(0,0) is 0/0
and returns NaN instead of 0. Restores the original guard, which only affects the
degenerate (0,0) case.
Split out of #571 at your request: one fix per PR, against
dev. The branch containsnothing else, so it can be reviewed, amended or dropped on its own.
The CI board matrix runs automatically; I did not run any hardware test, so the behavioural
claims are from reading the code plus the compiler. Happy to adjust the wording, split it
differently or drop it - no attachment to this one.