Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-22 00:28:30 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_Math: Control: protect against divide by zero

Browse Source
This commit is contained in:
Leonard Hall 2021-08-02 15:53:30 +09:30 committed by Randy Mackay
parent 8cd70f2569
commit 397cd8cbe0
1 changed files with 1 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
libraries/AP_Math/control.cpp
View File

@ -400,7 +400,7 @@ float stopping_distance(float velocity, float p, float accel_max)
// based on horizontal and vertical limits.
float kinematic_limit(Vector3f direction, float max_xy, float max_z_pos, float max_z_neg)
{
if (is_zero(direction.length_squared())) {
if (is_zero(direction.length_squared()) || is_zero(max_xy) || is_zero(max_z_pos) || is_zero(max_z_neg)) {
return 0.0f;
}