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tailsitter: guard against division by 0

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2022-05-18 10:01:04 +02:00
parent 3cf07e1be5
commit c29ca6c959
1 changed files with 4 additions and 2 deletions
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src/modules/vtol_att_control/tailsitter.cpp
+4 -2
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@@ -234,7 +234,8 @@ void Tailsitter::update_transition_state()
if (_vtol_schedule.flight_mode == vtol_mode::TRANSITION_FRONT_P1) {
const float trans_pitch_rate = M_PI_2_F / _param_vt_f_trans_dur.get() ;
// calculate pitching rate - and constrain to at least 0.1s transition time
const float trans_pitch_rate = M_PI_2_F / math::max(_param_vt_f_trans_dur.get(), 0.1f);
if (tilt < M_PI_2_F - math::radians(_param_fw_psp_off.get())) {
_q_trans_sp = Quatf(AxisAnglef(_trans_rot_axis,
@@ -251,7 +252,8 @@ void Tailsitter::update_transition_state()
} else if (_vtol_schedule.flight_mode == vtol_mode::TRANSITION_BACK) {
const float trans_pitch_rate = M_PI_2_F / _param_vt_b_trans_dur.get() ;
// calculate pitching rate - and constrain to at least 0.1s transition time
const float trans_pitch_rate = M_PI_2_F / math::max(_param_vt_b_trans_dur.get(), 0.1f);
if (!_flag_idle_mc) {
_flag_idle_mc = set_idle_mc();