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AP_HAL: check for div0 in quinn's estimator

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Andy Piper 2020-02-22 15:21:30 +00:00 committed by Andrew Tridgell
parent 507bd9eea9
commit 509341957f
1 changed files with 1 additions and 1 deletions
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2
libraries/AP_HAL/DSP.cpp
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@ -202,7 +202,7 @@ float DSP::calculate_quinns_second_estimator(const FFTWindowState* fft, const fl
const float am = (complex_fft[k_m1] * complex_fft[k] + complex_fft[k_m1 + 1] * complex_fft[k + 1]) / divider;
// sanity check
if (is_zero(ap) || is_zero(am)) {
if (fabsf(1.0f - ap) < 0.01f || fabsf(1.0f - am) < 0.01f) {
return 0.0f;
}