AP_Math: quaternion fix missing return

2016-12-05 10:08:08 +01:00 · 2016-12-05 10:08:08 +01:00 · fb7a00799f
commit fb7a00799f
parent 3bdeac78c7
1 changed files with 2 additions and 0 deletions
--- a/libraries/AP_Math/quaternion.cpp
+++ b/libraries/AP_Math/quaternion.cpp
@ -169,6 +169,7 @@ void Quaternion::from_axis_angle(const Vector3f &axis, float theta)
    if (is_zero(theta)) {
        q1 = 1.0f;
        q2=q3=q4=0.0f;
+        return;
    }
    float st2 = sinf(theta/2.0f);

@ -201,6 +202,7 @@ void Quaternion::from_axis_angle_fast(Vector3f v)
    if (is_zero(theta)) {
        q1 = 1.0f;
        q2=q3=q4=0.0f;
+        return;
    }
    v /= theta;
    from_axis_angle_fast(v,theta);