fix: prevent ZeroDivisionError in IMU temperature interpolation on sensor stall#1678
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Jun 7, 2026
…olation on sensor stall - Fix accel_at_temp (line 268): when two consecutive temperature readings are identical (T[i] == T[i+1]), division by zero occurs in interpolation. Fixed by checking delta_t == 0.0 and returning current value. - Fix gyro_at_temp (line 280): same ZeroDivisionError for gyro data. Fixed with identical guard. This can happen in real flight logs when the IMU sensor stalls and reports the same temperature for consecutive readings. Add two regression tests covering each crash scenario.
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While reviewing the temperature calibration code, I found that
accel_at_temp and gyro_at_temp can crash with ZeroDivisionError
when an IMU sensor stalls during a flight log recording.
When a sensor stalls, it reports the same temperature for two
consecutive readings. This makes T[i] == T[i+1], so the
interpolation denominator becomes zero and the function crashes.
Changes made:
accel_at_temp (line 268):
Compute delta_t = T[i+1] - T[i] before dividing.
If delta_t is zero, return the current value instead of dividing.
gyro_at_temp (line 280):
Same fix applied for gyro interpolation.
I tested this by adding two IMU readings with identical temperatures
and confirmed the crash before the fix and no crash after.
Checklist
Testing
Added two regression tests to tests/test_tempcal_imu.py:
All 18 tests pass locally.