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Plane: Fix landing to stop divide by zero if params are 0

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If someone mistakenly puts all 0's in their LAND command then
total_distance will be calculated as 0 and cause a divide by 0 error
below thus crashing ArduPilot.  Lets avoid that.
This commit is contained in:
Grant Morphett 2015-08-03 09:27:59 +10:00 committed by Randy Mackay
parent cdf59e4632
commit a39819f17f
1 changed files with 6 additions and 0 deletions
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6
ArduPlane/landing.cpp
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@ -131,6 +131,12 @@ void Plane::setup_landing_glide_slope(void)
int32_t land_bearing_cd = get_bearing_cd(prev_WP_loc, next_WP_loc); int32_t land_bearing_cd = get_bearing_cd(prev_WP_loc, next_WP_loc);
float total_distance = get_distance(prev_WP_loc, next_WP_loc); float total_distance = get_distance(prev_WP_loc, next_WP_loc);
// If someone mistakenly puts all 0's in their LAND command then total_distance
// will be calculated as 0 and cause a divide by 0 error below. Lets avoid that.
if (total_distance < 1) {
total_distance = 1;
}
// height we need to sink for this WP // height we need to sink for this WP
float sink_height = (prev_WP_loc.alt - next_WP_loc.alt)*0.01f; float sink_height = (prev_WP_loc.alt - next_WP_loc.alt)*0.01f;