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FW attitude controller: add protection against division by zero in airspeed scaling

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
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Silvan Fuhrer
2021-04-03 19:56:02 +02:00
committed by Daniel Agar
parent 436258c1c5
commit 8400f2c9bc
1 changed files with 2 additions and 1 deletions
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src/modules/fw_att_control/FixedwingAttitudeControl.cpp
+2 -1
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@@ -256,7 +256,8 @@ float FixedwingAttitudeControl::get_airspeed_and_update_scaling()
*
* Forcing the scaling to this value allows reasonable handheld tests.
*/
const float airspeed_constrained = constrain(airspeed, _param_fw_airspd_min.get(), _param_fw_airspd_max.get());
const float airspeed_constrained = constrain(constrain(airspeed, _param_fw_airspd_min.get(),
_param_fw_airspd_max.get()), 0.1f, 1000.0f);
_airspeed_scaling = (_param_fw_arsp_scale_en.get()) ? (_param_fw_airspd_trim.get() / airspeed_constrained) : 1.0f;