AP_Math: fix div by zero in quaternion

10 years ago · 07735fefa6
1 changed files with 1 additions and 0 deletions
--- a/libraries/AP_Math/quaternion.cpp
+++ b/libraries/AP_Math/quaternion.cpp
@ -120,6 +120,7 @@ void Quaternion::from_axis_angle(Vector3f v) {
				@@ -120,6 +120,7 @@ void Quaternion::from_axis_angle(Vector3f v) {
    if(theta == 0.0f) {
        q1 = 1.0f;
        q2=q3=q4=0.0f;
+        return;
    }
    v /= theta;
    from_axis_angle(v,theta);