AP_Scripting: fixed NaN in path lookahead at end of schedule

this can happen at high speedups under SITL
ArduPilot · Mar 16, 2024 · ece61c2 · ece61c2
1 parent 2726163
commit ece61c2
Showing 1 changed file with 4 additions and 2 deletions.
diff --git a/libraries/AP_Scripting/applets/Aerobatics/FixedWing/plane_aerobatics.lua b/libraries/AP_Scripting/applets/Aerobatics/FixedWing/plane_aerobatics.lua
@@ -2717,8 +2717,10 @@ function do_path()
                    lookahead_bf_dps:y(),
                    path_rate_bf_dps:z(),
                    lookahead_bf_dps:z())
-      path_rate_bf_dps:y(lookahead_bf_dps:y())
-      path_rate_bf_dps:z(lookahead_bf_dps:z())
+      if not Vec3IsNaN(lookahead_bf_dps) then
+         path_rate_bf_dps:y(lookahead_bf_dps:y())
+         path_rate_bf_dps:z(lookahead_bf_dps:z())
+      end
    end
 
    --[[