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px4iofirmware use std NAN instead of undefined 0.0f/0.0f

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- closes #9277
This commit is contained in:
Daniel Agar
2018-04-12 00:14:50 -04:00
parent 1ecfb22dbc
commit 08cc963de3
2 changed files with 4 additions and 19 deletions
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src/modules/px4iofirmware/mixer.cpp
+1 -2
View File
@@ -66,7 +66,6 @@ extern "C" {
* Maximum interval in us before FMU signal is considered lost * Maximum interval in us before FMU signal is considered lost
*/ */
#define FMU_INPUT_DROP_LIMIT_US 500000 #define FMU_INPUT_DROP_LIMIT_US 500000
#define NAN_VALUE (0.0f/0.0f)
/* current servo arm/disarm state */ /* current servo arm/disarm state */
static volatile bool mixer_servos_armed = false; static volatile bool mixer_servos_armed = false;
@@ -479,7 +478,7 @@ mixer_callback(uintptr_t handle,
control_group == actuator_controls_s::GROUP_INDEX_ATTITUDE_ALTERNATE) && control_group == actuator_controls_s::GROUP_INDEX_ATTITUDE_ALTERNATE) &&
control_index == actuator_controls_s::INDEX_THROTTLE) { control_index == actuator_controls_s::INDEX_THROTTLE) {
/* mark the throttle as invalid */ /* mark the throttle as invalid */
control = NAN_VALUE; control = NAN;
} }
} }
src/systemcmds/tests/test_mixer.cpp
+3 -17
View File
@@ -37,22 +37,10 @@
* Mixer load test * Mixer load test
*/ */
#include <px4_config.h> #include <limits>
#include <sys/types.h>
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <fcntl.h>
#include <dirent.h> #include <dirent.h>
#include <errno.h>
#include <string.h>
#include <time.h>
#include <limits.h>
#include <math.h>
#include <systemlib/err.h> #include <px4_config.h>
#include <lib/mixer/mixer.h> #include <lib/mixer/mixer.h>
#include <systemlib/pwm_limit/pwm_limit.h> #include <systemlib/pwm_limit/pwm_limit.h>
#include <drivers/drv_hrt.h> #include <drivers/drv_hrt.h>
@@ -75,8 +63,6 @@ const unsigned output_max = 8;
static float actuator_controls[output_max]; static float actuator_controls[output_max];
static bool should_prearm = false; static bool should_prearm = false;
#define NAN_VALUE (0.0f/0.0f)
#ifdef __PX4_DARWIN #ifdef __PX4_DARWIN
#define MIXER_DIFFERENCE_THRESHOLD 30 #define MIXER_DIFFERENCE_THRESHOLD 30
#else #else
@@ -604,7 +590,7 @@ mixer_callback(uintptr_t handle, uint8_t control_group, uint8_t control_index, f
if (should_prearm && control_group == actuator_controls_s::GROUP_INDEX_ATTITUDE && if (should_prearm && control_group == actuator_controls_s::GROUP_INDEX_ATTITUDE &&
control_index == actuator_controls_s::INDEX_THROTTLE) { control_index == actuator_controls_s::INDEX_THROTTLE) {
control = NAN_VALUE; control = std::numeric_limits<float>::quiet_NaN();
} }
return 0; return 0;