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FusionLocalizer: do not read past an unusable control_config - #172
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Signed-off-by: Francisco Martín Rico <fmrico@gmail.com>
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Closes #171.
When the control term ends up disabled,
control_update_vectoris now reset to sixfalsevalues, so the IMU acceleration checks always read a valid vector.Test: a local filter with an IMU that measures accelerations,
use_control: trueand each of thesecontrol_configvalues:It must start and stay finite with every one of them. Before the fix, the empty case segfaulted.