From d8e483ae20953769d6562dbf6f15535de76bd75d Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Thu, 20 Oct 2022 17:41:09 +0200 Subject: [PATCH] TECS: guard against NAN airspeed setpoints Signed-off-by: Silvan Fuhrer --- src/lib/tecs/TECS.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/lib/tecs/TECS.cpp b/src/lib/tecs/TECS.cpp index d287eb04f3..a72cbbca2e 100644 --- a/src/lib/tecs/TECS.cpp +++ b/src/lib/tecs/TECS.cpp @@ -104,7 +104,7 @@ void TECS::_update_speed_states(float equivalent_airspeed_setpoint, float equiva const float dt = constrain((now - _speed_update_timestamp) * 1.0e-6f, DT_MIN, DT_MAX); // Convert equivalent airspeed quantities to true airspeed - _EAS_setpoint = equivalent_airspeed_setpoint; + _EAS_setpoint = PX4_ISFINITE(equivalent_airspeed_setpoint) ? equivalent_airspeed_setpoint : _equivalent_airspeed_trim; _TAS_setpoint = _EAS_setpoint * EAS2TAS; _TAS_max = _equivalent_airspeed_max * EAS2TAS; _TAS_min = _equivalent_airspeed_min * EAS2TAS;