From 4a397a8d6750789b7f21df10315aa829fbf0ec5c Mon Sep 17 00:00:00 2001
From: Jonathan Challinger <mr.challinger@gmail.com>
Date: Fri, 10 Oct 2014 04:56:01 -0700
Subject: [PATCH] AC_PosControl: Protect from divide-by-zero in
 get_stopping_point_xy

---
 libraries/AC_AttitudeControl/AC_PosControl.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AC_AttitudeControl/AC_PosControl.cpp b/libraries/AC_AttitudeControl/AC_PosControl.cpp
index f3e003511e..c1a7aa3e02 100644
--- a/libraries/AC_AttitudeControl/AC_PosControl.cpp
+++ b/libraries/AC_AttitudeControl/AC_PosControl.cpp
@@ -472,7 +472,7 @@ void AC_PosControl::get_stopping_point_xy(Vector3f &stopping_point) const
     float vel_total = pythagorous2(curr_vel.x, curr_vel.y);
 
     // avoid divide by zero by using current position if the velocity is below 10cm/s, kP is very low or acceleration is zero
-    if (kP <= 0.0f || _accel_cms <= 0.0f) {
+    if (kP <= 0.0f || _accel_cms <= 0.0f || vel_total == 0.0f) {
         stopping_point.x = curr_pos.x;
         stopping_point.y = curr_pos.y;
         return;