AP_HAL: protect against invalid values when calculating Jain's estimator

ArduPilot · Dec 9, 2024 · 1d6d112 · 1d6d112
1 parent ec215c3
commit 1d6d112
Showing 1 changed file with 5 additions and 0 deletions.
diff --git a/libraries/AP_HAL/DSP.cpp b/libraries/AP_HAL/DSP.cpp
@@ -286,6 +286,11 @@ float DSP::calculate_jains_estimator(const FFTWindowState* fft, const float* rea
     float y1 = real_fft[k_max-1];
     float y2 = real_fft[k_max];
     float y3 = real_fft[k_max+1];
+
+    if (is_zero(y2) || is_zero(y1)) {
+        return 0.0f;
+    }
+
     float d = 0.0f;
 
     if (y1 > y3) {