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AP_NavEKF: prevent float exception on startup

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This commit is contained in:
Andrew Tridgell 2015-04-05 09:16:14 -07:00
parent 7fc0f026d2
commit baf292def1
1 changed files with 3 additions and 1 deletions
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4
libraries/AP_NavEKF/AP_NavEKF.cpp
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@ -3514,8 +3514,10 @@ void NavEKF::RecallOmega(Vector3f &omegaAvg, uint32_t msecStart, uint32_t msecEn
if (numAvg >= 1)
{
omegaAvg = omegaAvg / float(numAvg);
} else {
} else if (dtIMUactual > 0) {
omegaAvg = correctedDelAng / dtIMUactual;
} else {
omegaAvg.zero();
}
}