In DEG mode, the QNX desk calculator returns the following

ASIN of 0.0 = 0 (correct)

ACOS of 0.0 = 1.570796 (WRONG, should be 90 degrees)

ASIN of 1.0 = 0.017454 (WRONG, should be 90 degrees)

ACOS of 1.0 = 1.553342 (WRONG, should be 0 degrees)

in RAD mode

ASIN of 0.0 = 0 (correct)

ACOS of 0.0 = 1.570796 (which is pi/2, and correct)

ASIN of 1.0 = 1.553342 (which is pi/2, and correct)

ACOS of 1.0 = 0 (correct)

It’s clear what’s wrong. The program is applying the degrees-to-radians

conversion to the INPUT of ASIN and ACOS, rather than the output.

This caused us to miscalculate the maximum terrain slope the Overbot

could traverse. But we caught it in simulation testing.

[QNX 6.21 PE]

John Nagle

Team Overbot