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Copter: add div-by-zero check to get_pilot_desired_throttle

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This divide by zero is only possible if there was a coding error in the setup of the throttle channel but added to make Covarity happy
This commit is contained in:
Randy Mackay 2016-08-08 12:14:02 +09:00
parent 20ade3bb17
commit f4fee69f29
1 changed files with 5 additions and 0 deletions
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ArduCopter/Attitude.cpp
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@ -142,6 +142,11 @@ float Copter::get_pilot_desired_throttle(int16_t throttle_control)
int16_t mid_stick = channel_throttle->get_control_mid(); int16_t mid_stick = channel_throttle->get_control_mid();
// protect against unlikely divide by zero
if (mid_stick <= 0) {
mid_stick = 500;
}
// ensure reasonable throttle values // ensure reasonable throttle values
throttle_control = constrain_int16(throttle_control,0,1000); throttle_control = constrain_int16(throttle_control,0,1000);