Copter: add nan check in handle_command_mount

ArduPilot · Nov 20, 2023 · 9abe420 · 9abe420
1 parent f71fbb2
commit 9abe420
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/ArduCopter/GCS_Mavlink.cpp b/ArduCopter/GCS_Mavlink.cpp
@@ -846,7 +846,8 @@ MAV_RESULT GCS_MAVLINK_Copter::handle_command_mount(const mavlink_command_int_t
     case MAV_CMD_DO_MOUNT_CONTROL:
         // if vehicle has a camera mount but it doesn't do pan control then yaw the entire vehicle instead
         if ((copter.camera_mount.get_mount_type() != AP_Mount::Type::None) &&
-            !copter.camera_mount.has_pan_control()) {
+            !copter.camera_mount.has_pan_control() &&
+            !isnan(packet.param3)) {
             copter.flightmode->auto_yaw.set_yaw_angle_rate((float)packet.param3, 0.0f);
         }
         break;