mc_pos_control: Protect against NaN and Inf setpoints #1703
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
|
Merged to master via cherry-pick, thanks! |
thomasgubler
added a commit
that referenced
this pull request
Feb 22, 2015
thomasgubler
added a commit
that referenced
this pull request
Feb 24, 2015
thomasgubler
added a commit
that referenced
this pull request
Feb 24, 2015
port #1703 to multiplatform
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
This small fix prevents NaN and Inf floats in position setpoints from infecting the rest of the position controller in AUTO mode. If a non-finite float is detected, the setpoint is marked as invalid and should make the vehicle hold position because of
reset_pos_sp()andreset_alt_sp().Without this fix the vehicle fell down from the sky and crashed.