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Merge pull request #9647 from etracer65/mixer_crashflip_div0

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Fix division by zero in mixer crashflip
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Michael Keller 2020-03-28 14:02:13 +13:00 • committed by GitHub
commit 5f8fc1e6f9
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src/main/flight/mixer.c
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@ -699,7 +699,7 @@ static void applyFlipOverAfterCrashModeToMotors(void)
signYaw = 0; 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) const float cosThreshold = sqrtf(3.0f)/2.0f; // cos(PI/6.0f)
if (cosPhi < cosThreshold) { if (cosPhi < cosThreshold) {