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AP_NavEKF: prevent divide by zero in EKF logging

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This commit is contained in:
Andrew Tridgell 2015-04-04 07:09:02 -07:00
parent d44cf14178
commit c1a0375562
1 changed files with 7 additions and 2 deletions
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9
libraries/AP_NavEKF/AP_NavEKF.cpp
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@ -3630,8 +3630,13 @@ void NavEKF::getIMU1Weighting(float &ret) const
// return the individual Z-accel bias estimates in m/s^2
void NavEKF::getAccelZBias(float &zbias1, float &zbias2) const {
zbias1 = state.accel_zbias1 / dtIMUavg;
zbias2 = state.accel_zbias2 / dtIMUavg;
if (dtIMUavg > 0) {
zbias1 = state.accel_zbias1 / dtIMUavg;
zbias2 = state.accel_zbias2 / dtIMUavg;
} else {
zbias1 = 0;
zbias2 = 0;
}
}
// return the NED wind speed estimates in m/s (positive is air moving in the direction of the axis)