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PositionControl: set vel_dot to 0 if NAN

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Dennis Mannhart
2018-05-25 17:19:43 +02:00
committed by Lorenz Meier
parent 33d0a4e8ed
commit 5ffcb6af01
1 changed files with 9 additions and 0 deletions
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src/modules/mc_pos_control/PositionControl.cpp
+9
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@@ -173,6 +173,15 @@ void PositionControl::_interfaceMapping()
}
}
// ensure that vel_dot is finite, otherwise set to 0
if (!PX4_ISFINITE(_vel_dot(0)) || !PX4_ISFINITE(_vel_dot(1))) {
_vel_dot(0) = _vel_dot(1) = 0.0f;
}
if (!PX4_ISFINITE(_vel_dot(2))) {
_vel_dot(2) = 0.0f;
}
if (!PX4_ISFINITE(_yawspeed_sp)) {
// Set the yawspeed to 0 since not used.
_yawspeed_sp = 0.0f;