From a74d087fd83c6e8d6eac4ab077580a06ec356731 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sun, 3 Jan 2021 16:48:55 +1100
Subject: [PATCH] SRV_Channel: prevent FPE with SERVOn_MIN==SERVOn_MAX

---
 libraries/SRV_Channel/SRV_Channel_aux.cpp | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/libraries/SRV_Channel/SRV_Channel_aux.cpp b/libraries/SRV_Channel/SRV_Channel_aux.cpp
index ff55a171ff..70682897f0 100644
--- a/libraries/SRV_Channel/SRV_Channel_aux.cpp
+++ b/libraries/SRV_Channel/SRV_Channel_aux.cpp
@@ -616,6 +616,9 @@ void SRV_Channels::adjust_trim(SRV_Channel::Aux_servo_function_t function, float
         }
         float change = c.reversed?-v:v;
         uint16_t new_trim = c.servo_trim;
+        if (c.servo_max <= c.servo_min) {
+            continue;
+        }
         float trim_scaled = float(c.servo_trim - c.servo_min) / (c.servo_max - c.servo_min);
         if (change > 0 && trim_scaled < 0.6f) {
             new_trim++;