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AP_AHRS: prevent a infinity value

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This commit is contained in:
Andrew Tridgell 2014-04-21 15:23:01 +10:00
parent 7ca08294e7
commit 4d24a86088
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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@ -629,6 +629,10 @@ AP_AHRS_DCM::drift_correction(float deltat)
} else { } else {
GA_b[i] = _ra_sum[i]; GA_b[i] = _ra_sum[i];
} }
if (GA_b[i].is_zero()) {
// wait for some non-zero acceleration information
continue;
}
GA_b[i].normalize(); GA_b[i].normalize();
if (GA_b[i].is_inf()) { if (GA_b[i].is_inf()) {
// wait for some non-zero acceleration information // wait for some non-zero acceleration information