better state validation

2017-12-02 18:58:40 -05:00 · 2017-12-02 18:58:40 -05:00 · 3232d0d59d
parent adf6b99b38
commit 3232d0d59d
1 changed files with 6 additions and 2 deletions
--- a/firmware/controllers/math/engine_math.h
+++ b/firmware/controllers/math/engine_math.h
@ -32,6 +32,10 @@ void setFlatInjectorLag(float value DECLARE_ENGINE_PARAMETER_SUFFIX);
 */
 #define fixAngle(angle, msg)											    \
 	{																		\
+   	    if (cisnan(angle)) {                                                \
+		   firmwareError(CUSTOM_ERR_6516, "angle NaN %s", msg);             \
+		   angle = 0;                                                       \
+	    }                                                                   \
 		assertAngleRange(angle, msg);										\
 		float engineCycleDurationLocalCopy = ENGINE(engineCycle);	        \
 		/* todo: split this method into 'fixAngleUp' and 'fixAngleDown'*/   \