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mc_pos_control: Protect against NaN and Inf setpoints #1703

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mc_pos_control: Protect against NaN and Inf setpoints #1703

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9 changes: 8 additions & 1 deletion src/modules/mc_pos_control/mc_pos_control_main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -726,11 +726,18 @@ MulticopterPositionControl::control_auto(float dt)
reset_alt_sp();
}

//Poll position setpoint
bool updated;
orb_check(_pos_sp_triplet_sub, &updated);

if (updated) {
orb_copy(ORB_ID(position_setpoint_triplet), _pos_sp_triplet_sub, &_pos_sp_triplet);

//Make sure that the position setpoint is valid
if (!isfinite(_pos_sp_triplet.current.lat) ||
!isfinite(_pos_sp_triplet.current.lon) ||
!isfinite(_pos_sp_triplet.current.alt)) {
_pos_sp_triplet.current.valid = false;
}
}

if (_pos_sp_triplet.current.valid) {
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