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Merge pull request #3013 from PX4/mixer_fix

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protect from zero division
This commit is contained in:
Lorenz Meier
2015-10-19 00:27:26 +02:00
parent 6b2ad2e258 0158821670
commit a6a3d4891d
1 changed files with 11 additions and 3 deletions
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src/modules/systemlib/mixer/mixer_multirotor.cpp
+11 -3
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@@ -315,8 +315,12 @@ MultirotorMixer::mix(float *outputs, unsigned space, uint16_t *status_reg)
// scale yaw if it violates limits. inform about yaw limit reached
if (out < 0.0f) {
yaw = -((roll * _rotors[i].roll_scale + pitch * _rotors[i].pitch_scale) *
if (fabsf(_rotors[i].yaw_scale) <= FLT_EPSILON) {
yaw = 0.0f;
} else {
yaw = -((roll * _rotors[i].roll_scale + pitch * _rotors[i].pitch_scale) *
roll_pitch_scale + thrust + boost) / _rotors[i].yaw_scale;
}
if (status_reg != NULL) {
(*status_reg) |= PX4IO_P_STATUS_MIXER_YAW_LIMIT;
@@ -326,8 +330,12 @@ MultirotorMixer::mix(float *outputs, unsigned space, uint16_t *status_reg)
// allow to reduce thrust to get some yaw response
float thrust_reduction = fminf(0.15f, out - 1.0f);
thrust -= thrust_reduction;
yaw = (1.0f - ((roll * _rotors[i].roll_scale + pitch * _rotors[i].pitch_scale) *
roll_pitch_scale + thrust + boost)) / _rotors[i].yaw_scale;
if (fabsf(_rotors[i].yaw_scale) <= FLT_EPSILON) {
yaw = 0.0f;
} else {
yaw = (1.0f - ((roll * _rotors[i].roll_scale + pitch * _rotors[i].pitch_scale) *
roll_pitch_scale + thrust + boost)) / _rotors[i].yaw_scale;
}
if (status_reg != NULL) {
(*status_reg) |= PX4IO_P_STATUS_MIXER_YAW_LIMIT;