From e06fff94bb617bd698ea2ba3108fa2810e7b5d41 Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Sun, 15 Dec 2019 20:41:11 +0100 Subject: [PATCH] PositionControl: handle yaw NAN inputs --- src/modules/mc_pos_control/PositionControl/PositionControl.cpp | 3 +++ 1 file changed, 3 insertions(+) diff --git a/src/modules/mc_pos_control/PositionControl/PositionControl.cpp b/src/modules/mc_pos_control/PositionControl/PositionControl.cpp index 6ba97158de..1c9f634084 100644 --- a/src/modules/mc_pos_control/PositionControl/PositionControl.cpp +++ b/src/modules/mc_pos_control/PositionControl/PositionControl.cpp @@ -133,6 +133,9 @@ void PositionControl::update(const float dt) _positionControl(); _velocityControl(dt); + + _yawspeed_sp = PX4_ISFINITE(_yawspeed_sp) ? _yawspeed_sp : 0.f; + _yaw_sp = PX4_ISFINITE(_yaw_sp) ? _yaw_sp : _yaw; // TODO: better way to disable yaw control } bool PositionControl::_interfaceMapping()