From 07735fefa63a5562047c9eeeda6cbd8c15b5a99c Mon Sep 17 00:00:00 2001
From: Jonathan Challinger <mr.challinger@gmail.com>
Date: Tue, 7 Apr 2015 20:58:20 -0700
Subject: [PATCH] AP_Math: fix div by zero in quaternion

---
 libraries/AP_Math/quaternion.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/libraries/AP_Math/quaternion.cpp b/libraries/AP_Math/quaternion.cpp
index a134379e85..d048a69e6a 100644
--- a/libraries/AP_Math/quaternion.cpp
+++ b/libraries/AP_Math/quaternion.cpp
@@ -120,6 +120,7 @@ void Quaternion::from_axis_angle(Vector3f v) {
     if(theta == 0.0f) {
         q1 = 1.0f;
         q2=q3=q4=0.0f;
+        return;
     }
     v /= theta;
     from_axis_angle(v,theta);