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Plane: prevent a division by zero in takeoff code

This commit is contained in:
Andrew Tridgell 2016-04-26 12:06:57 +10:00
parent 831ae72908
commit 1ebe0a2583
1 changed files with 9 additions and 7 deletions
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16
ArduPlane/takeoff.cpp
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@ -165,13 +165,15 @@ int16_t Plane::get_takeoff_pitch_min_cd(void)
}
// are we entering the region where we want to start leveling off before we reach takeoff alt?
float sec_to_target = (remaining_height_to_target_cm * 0.01f) / (-auto_state.sink_rate);
if (sec_to_target > 0 &&
relative_alt_cm >= 1000 &&
sec_to_target <= g.takeoff_pitch_limit_reduction_sec) {
// make a note of that altitude to use it as a start height for scaling
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Takeoff level-off starting at %dm", remaining_height_to_target_cm/100);
auto_state.height_below_takeoff_to_level_off_cm = remaining_height_to_target_cm;
if (auto_state.sink_rate < -0.1f) {
float sec_to_target = (remaining_height_to_target_cm * 0.01f) / (-auto_state.sink_rate);
if (sec_to_target > 0 &&
relative_alt_cm >= 1000 &&
sec_to_target <= g.takeoff_pitch_limit_reduction_sec) {
// make a note of that altitude to use it as a start height for scaling
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Takeoff level-off starting at %dm", remaining_height_to_target_cm/100);
auto_state.height_below_takeoff_to_level_off_cm = remaining_height_to_target_cm;
}
}
}
return auto_state.takeoff_pitch_cd;