From 9abe42025f870033380f753161f1ef6e2715b289 Mon Sep 17 00:00:00 2001
From: TsuyoshiKawamura <kawamura@tajisoft.jp>
Date: Mon, 20 Nov 2023 20:21:18 +0900
Subject: [PATCH] Copter: add nan check in handle_command_mount

---
 ArduCopter/GCS_Mavlink.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/ArduCopter/GCS_Mavlink.cpp b/ArduCopter/GCS_Mavlink.cpp
index 4f5c8cd9f03e8..ece28b6372dec 100644
--- 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;