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Fix SIGFPE in MotionController #2381

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Fix SIGFPE in MotionController #2381

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9 changes: 6 additions & 3 deletions src/components/motion/MotionController.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -56,9 +56,12 @@ void MotionController::Update(int16_t x, int16_t y, int16_t z, uint32_t nbSteps)

// Update accumulated speed
// Currently polling at 10Hz, if this ever goes faster scalar and EMA might need adjusting
int32_t speed = std::abs(zHistory[0] - zHistory[histSize - 1] + ((yHistory[0] - yHistory[histSize - 1]) / 2) +
((xHistory[0] - xHistory[histSize - 1]) / 4)) *
100 / (time - lastTime);
int32_t speed = 0;
if (time != lastTime) {
speed = std::abs(zHistory[0] - zHistory[histSize - 1] + ((yHistory[0] - yHistory[histSize - 1]) / 2) +
((xHistory[0] - xHistory[histSize - 1]) / 4)) *
100 / (time - lastTime);
}
// integer version of (.2 * speed) + ((1 - .2) * accumulatedSpeed);
accumulatedSpeed = speed / 5 + accumulatedSpeed * 4 / 5;

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