mirror of https://github.com/ArduPilot/ardupilot
AC_AttControlHeli: integrate div-by-zero check for bf-to-ef conversion
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@ -91,10 +91,11 @@ void AC_AttitudeControl_Heli::passthrough_bf_roll_pitch_rate_yaw(float roll_pass
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// update our earth-frame angle targets
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Vector3f angle_ef_error;
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frame_conversion_bf_to_ef(_angle_bf_error, angle_ef_error);
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if (frame_conversion_bf_to_ef(_angle_bf_error, angle_ef_error)) {
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_angle_ef_target.x = wrap_180_cd_float(angle_ef_error.x + _ahrs.roll_sensor);
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_angle_ef_target.y = wrap_180_cd_float(angle_ef_error.y + _ahrs.pitch_sensor);
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_angle_ef_target.z = wrap_360_cd_float(angle_ef_error.z + _ahrs.yaw_sensor);
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}
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// handle flipping over pitch axis
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if (_angle_ef_target.y > 9000.0f) {
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