HAL_SITL: prevent FPE on zero range with optflow

2015-06-25 10:08:41 +10:00 · 2015-06-25 10:08:41 +10:00 · a81590f7ac
commit a81590f7ac
parent 14cf9b1621
1 changed files with 1 additions and 1 deletions
--- a/libraries/AP_HAL_SITL/sitl_optical_flow.cpp
+++ b/libraries/AP_HAL_SITL/sitl_optical_flow.cpp
@ -71,7 +71,7 @@ void SITL_State::_update_flow(void)

    // estimate range to centre of image
    float range;
-    if (rotmat.c.z > 0.05f) {
+    if (rotmat.c.z > 0.05f && height_agl() > 0) {
        range = height_agl() / rotmat.c.z;
    } else {
        range = 1e38f;