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AC_AttControl_Multi: add divide by zero check

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Leonard Hall 2015-12-19 13:47:51 +09:00 committed by Randy Mackay
parent a0409e4f9e
commit bab08cbcc1
1 changed files with 6 additions and 0 deletions
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6
libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.cpp
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@ -9,6 +9,12 @@ float AC_AttitudeControl_Multi::get_althold_lean_angle_max() const
{
// calc maximum tilt angle based on throttle
float thr_max = _motors_multi.throttle_max();
// divide by zero check
if (is_zero(thr_max)) {
return 0.0f;
}
return ToDeg(acos(constrain_float(_throttle_in_filt.get()/(0.9f * thr_max / 1000.0f), 0.0f, 1000.0f) / 1000.0f)) * 100.0f;
}