From 165dd5c1d3bf75450e93c8ced539aaae0f7d66f7 Mon Sep 17 00:00:00 2001
From: Prawien Kanhai <61232842+pakanhai@users.noreply.github.com>
Date: Wed, 20 Oct 2021 23:05:57 +0200
Subject: [PATCH] - Fixed svd function with min (#2790)

---
 sw/airborne/math/pprz_matrix_decomp_float.c | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/sw/airborne/math/pprz_matrix_decomp_float.c b/sw/airborne/math/pprz_matrix_decomp_float.c
index 6175397093..8f6e0edc3d 100644
--- a/sw/airborne/math/pprz_matrix_decomp_float.c
+++ b/sw/airborne/math/pprz_matrix_decomp_float.c
@@ -141,6 +141,9 @@ static inline float pythag(float a, float b)
 }
 
 
+int min(int num1, int num2) {
+    return (num1 > num2 ) ? num2 : num1;
+}
 /** SVD decomposition
  *
  * --------------------------------------------------------------------- *
@@ -295,7 +298,7 @@ int pprz_svd_float(float **a, float *w, float **v, int m, int n)
   }
 
   /* Accumulation of left-hand transformations. */
-  for (i = n - 1; i >= 0; --i) {
+  for (i = min(m,n) - 1; i >= 0; --i) {
     l = i + 1;
     G = w[i];
     if (i < (n - 1)) {