Closed boewing closed 4 years ago
The usual formula for solving quadratic equations divides by zero when a=0 and is unprecise for a~0:
Therefore we should use the numerically stable version [1]. For our case of b >= 0 implies the formula as implemented in the code.
A successful hover test on a flying quad has been done.
[1]: https://people.csail.mit.edu/bkph/articles/Quadratics.pdf
@boewing please go ahead and merge
The usual formula for solving quadratic equations divides by zero when a=0 and is unprecise for a~0:![image](https://user-images.githubusercontent.com/25506427/68599020-1ca3d980-04a0-11ea-92c2-1ec6c8a59095.png)
Therefore we should use the numerically stable version [1]. For our case of b >= 0 implies the formula as implemented in the code.
A successful hover test on a flying quad has been done.
[1]: https://people.csail.mit.edu/bkph/articles/Quadratics.pdf