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Flow example fix for divide by zero.

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This prevented publishing and made the module unusable.
This commit is contained in:
James Goppert 2015-02-11 21:05:40 -05:00
parent 7ca2553da2
commit 017f3ead47
1 changed files with 7 additions and 2 deletions
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9
src/examples/flow_position_estimator/flow_position_estimator_main.c
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@ -309,8 +309,13 @@ int flow_position_estimator_thread_main(int argc, char *argv[])
if (vehicle_liftoff || params.debug)
{
/* copy flow */
flow_speed[0] = flow.pixel_flow_x_integral / (flow.integration_timespan / 1e6f) * flow.ground_distance_m;
flow_speed[1] = flow.pixel_flow_y_integral / (flow.integration_timespan / 1e6f) * flow.ground_distance_m;
if (flow.integration_timespan > 0) {
flow_speed[0] = flow.pixel_flow_x_integral / (flow.integration_timespan / 1e6f) * flow.ground_distance_m;
flow_speed[1] = flow.pixel_flow_y_integral / (flow.integration_timespan / 1e6f) * flow.ground_distance_m;
} else {
flow_speed[0] = 0;
flow_speed[1] = 0;
}
flow_speed[2] = 0.0f;
/* convert to bodyframe velocity */