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mc_position_control: Fix divide by zero in scale_control

This commit is contained in:
Khoi Tran 2017-01-28 22:09:11 -07:00 committed by Lorenz Meier
parent 3f9d79c768
commit 2428ff9f3a
1 changed files with 5 additions and 1 deletions
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6
src/modules/mc_pos_control/mc_pos_control_main.cpp
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@ -805,7 +805,11 @@ MulticopterPositionControl::scale_control(float ctl, float end, float dz, float
return -dy + (ctl + dz) * (1.0f - dy) / (end - dz);
} else {
return ctl * (dy / dz);
if (dz < FLT_EPSILON) {
return 0;
} else {
return ctl * (dy / dz);
}
}
}