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fix(fw_att_control): guard against 0 in param

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ttechnick
2026-03-13 13:50:26 +01:00
committed by Nick
parent c0e7086d90
commit 22cad6ebf7
2 changed files with 3 additions and 3 deletions
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src/modules/fw_att_control/CMakeLists.txt
+1 -1
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@@ -43,4 +43,4 @@ px4_add_module(
px4_work_queue
)
px4_add_unit_gtest(SRC FixedwingAttitudeControlTest.cpp)
px4_add_unit_gtest(SRC FixedwingAttitudeControlTest.cpp LINKLIBS modules__fw_att_control)
src/modules/fw_att_control/FixedwingAttitudeControl.cpp
+2 -2
View File
@@ -74,8 +74,8 @@ FixedwingAttitudeControl::init()
void
FixedwingAttitudeControl::parameters_update()
{
_proportional_gain = matrix::Vector3f(1.0f / _param_fw_r_tc.get(),
1.0f / _param_fw_p_tc.get(),
_proportional_gain = matrix::Vector3f(1.0f / math::max(0.01f, _param_fw_r_tc.get()),
1.0f / math::max(0.01f, _param_fw_p_tc.get()),
1.0f);
_wheel_ctrl.set_k_p(_param_fw_wr_p.get());