Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-21 15:25:36 +03:00
Code Issues Wiki Activity

prevent divide by zero

Browse source
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
Download patch file Download diff file Expand all files Collapse all files

6
src/main/flight/pid.c
View file

@ -607,8 +607,10 @@ void pidInitConfig(const pidProfile_t *pidProfile)
#ifdef USE_THRUST_LINEARIZATION #ifdef USE_THRUST_LINEARIZATION
thrustLinearization = pidProfile->thrustLinearization / 100.0f; thrustLinearization = pidProfile->thrustLinearization / 100.0f;
thrustLinearizationReciprocal = 1.0f / thrustLinearization; if (thrustLinearization != 0.0f) {
thrustLinearizationB = (1.0f - thrustLinearization) / (2.0f * thrustLinearization); thrustLinearizationReciprocal = 1.0f / thrustLinearization;
thrustLinearizationB = (1.0f - thrustLinearization) / (2.0f * thrustLinearization);
}
#endif #endif
} }