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AP_AHRS: prevent a floating exception in update_trig

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This commit is contained in:
Andrew Tridgell 2015-05-27 18:22:27 +10:00
parent b121d83beb
commit 00ca493860
1 changed files with 5 additions and 1 deletions
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6
libraries/AP_AHRS/AP_AHRS.cpp
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@ -255,7 +255,11 @@ void AP_AHRS::update_trig(void)
// sin_roll, sin_pitch
_sin_pitch = -temp.c.x;
_sin_roll = temp.c.y / _cos_pitch;
if (is_zero(_cos_pitch)) {
_sin_roll = sinf(roll);
} else {
_sin_roll = temp.c.y / _cos_pitch;
}
// sanity checks
if (yaw_vector.is_inf() || yaw_vector.is_nan()) {