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AP_Baro: prevent bad ground pressure from making a board unbootable

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This commit is contained in:
Andrew Tridgell 2016-02-23 14:15:39 +11:00
parent 1df2512935
commit 0a72c2bbd5
1 changed files with 2 additions and 1 deletions
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3
libraries/AP_Baro/AP_Baro.cpp
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@ -363,7 +363,8 @@ void AP_Baro::update(void)
for (uint8_t i=0; i<_num_sensors; i++) {
if (sensors[i].healthy) {
// update altitude calculation
if (is_zero(sensors[i].ground_pressure)) {
float ground_pressure = sensors[i].ground_pressure;
if (is_zero(ground_pressure) || isnan(ground_pressure) || isinf(ground_pressure)) {
sensors[i].ground_pressure = sensors[i].pressure;
}
float altitude = get_altitude_difference(sensors[i].ground_pressure, sensors[i].pressure);