Merge pull request #420 from IMRCLab/issue419

server cpp: improve handling of crashed CF
IMRCLab · Feb 14, 2024 · db3a9cf · db3a9cf
2 parents 24b8a2d + 034dd27
commit db3a9cf
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Showing 2 changed files with 7 additions and 4 deletions.
diff --git a/crazyflie/deps/crazyflie_tools b/crazyflie/deps/crazyflie_tools
diff --git a/crazyflie/src/crazyflie_server.cpp b/crazyflie/src/crazyflie_server.cpp
@@ -865,9 +865,12 @@ class CrazyflieROS
     }
 
     auto stats = cf_.connectionStatsDelta();
-    float ack_rate = stats.sent_count / stats.ack_count;
-    if (ack_rate < min_ack_rate_) {
-      RCLCPP_WARN(logger_, "[%s] Ack rate: %.1f %%", name_.c_str(), ack_rate * 100);
+
+    if (stats.ack_count > 0) {
+      float ack_rate = stats.sent_count / stats.ack_count;
+      if (ack_rate < min_ack_rate_) {
+        RCLCPP_WARN(logger_, "Ack rate: %.1f %%", name_.c_str(), ack_rate * 100);
+      }
     }
 
     if (publish_stats_) {