fw: make att controller more robust against invalid (nan) setpoints

2026-10-20 14:43:34 +08:00 · 2013-11-04 13:14:25 +01:00
parent 9349509302
commit 014e856c1f
2 changed files with 48 additions and 24 deletions
@@ -90,6 +90,11 @@ float ECL_YawController::control_attitude(float roll, float pitch,

 //	counter++;

+	if(!isfinite(_rate_setpoint)){
+		warnx("yaw rate sepoint not finite");
+		_rate_setpoint = 0.0f;
+	}
+
 	return _rate_setpoint;
 }