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prevent divide by zero

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This commit is contained in:
Thorsten Laux 2019-01-07 15:52:57 +01:00
parent ad253c146b
commit 998845be3e
1 changed files with 4 additions and 2 deletions
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6
src/main/flight/pid.c
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@ -607,8 +607,10 @@ void pidInitConfig(const pidProfile_t *pidProfile)
#ifdef USE_THRUST_LINEARIZATION
thrustLinearization = pidProfile->thrustLinearization / 100.0f;
thrustLinearizationReciprocal = 1.0f / thrustLinearization;
thrustLinearizationB = (1.0f - thrustLinearization) / (2.0f * thrustLinearization);
if (thrustLinearization != 0.0f) {
thrustLinearizationReciprocal = 1.0f / thrustLinearization;
thrustLinearizationB = (1.0f - thrustLinearization) / (2.0f * thrustLinearization);
}
#endif
}