AP_NavEKF: prevent float exception on startup

10 years ago · baf292def1
1 changed files with 3 additions and 1 deletions
--- a/libraries/AP_NavEKF/AP_NavEKF.cpp
+++ b/libraries/AP_NavEKF/AP_NavEKF.cpp
@ -3514,8 +3514,10 @@ void NavEKF::RecallOmega(Vector3f &omegaAvg, uint32_t msecStart, uint32_t msecEn
    if (numAvg >= 1)
    {
        omegaAvg = omegaAvg / float(numAvg);
-    } else {
+    } else if (dtIMUactual > 0) {
        omegaAvg = correctedDelAng / dtIMUactual;
    } else {
        omegaAvg.zero();
    }
 }