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AP_AHRS: avoid FPE when we don't have a compass reading

This commit is contained in:
Peter Barker 2015-05-02 10:02:55 +10:00 committed by Andrew Tridgell
parent 77a2b4acf6
commit 463270e0ee
1 changed files with 4 additions and 0 deletions
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4
libraries/AP_AHRS/AP_AHRS_DCM.cpp
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@ -271,6 +271,10 @@ AP_AHRS_DCM::yaw_error_compass(void)
// get the mag vector in the earth frame
Vector2f rb = _dcm_matrix.mulXY(mag);
if (rb.length() < FLT_EPSILON) {
return 0.0f;
}
rb.normalize();
if (rb.is_inf()) {
// not a valid vector