From 3c1e8cb1c36aeb768397929da6cfdc7e4f060589 Mon Sep 17 00:00:00 2001
From: Bruce Luckcuck <github@etracer.net>
Date: Thu, 26 Mar 2020 19:45:07 -0400
Subject: [PATCH] Fix division by zero in mixer crashflip

---
 src/main/flight/mixer.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/flight/mixer.c b/src/main/flight/mixer.c
index 9c75e98ebf..ea487749c6 100644
--- a/src/main/flight/mixer.c
+++ b/src/main/flight/mixer.c
@@ -699,7 +699,7 @@ static void applyFlipOverAfterCrashModeToMotors(void)
             signYaw = 0;
         }
 
-        const float cosPhi = (stickDeflectionPitchAbs + stickDeflectionRollAbs) / (sqrtf(2.0f) * stickDeflectionLength);
+        const float cosPhi = (stickDeflectionLength > 0) ? (stickDeflectionPitchAbs + stickDeflectionRollAbs) / (sqrtf(2.0f) * stickDeflectionLength) : 0;
         const float cosThreshold = sqrtf(3.0f)/2.0f; // cos(PI/6.0f)
 
         if (cosPhi < cosThreshold) {