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AP_InertialSensor: check for zero delta_velocity dt

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Andrew Tridgell 2015-04-03 15:10:47 -07:00
parent b306d7a356
commit 45e016ea5b
1 changed files with 1 additions and 1 deletions
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2
libraries/AP_InertialSensor/AP_InertialSensor.cpp
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@ -525,7 +525,7 @@ bool AP_InertialSensor::calibrate_accel(AP_InertialSensor_UserInteract* interact
// capture sample // capture sample
for (uint8_t k=0; k<num_accels; k++) { for (uint8_t k=0; k<num_accels; k++) {
Vector3f samp; Vector3f samp;
if(get_delta_velocity(k,samp)) { if(get_delta_velocity(k,samp) && _delta_velocity_dt[k] > 0) {
samp /= _delta_velocity_dt[k]; samp /= _delta_velocity_dt[k];
} else { } else {
samp = get_accel(k); samp = get_accel(k);