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ROS: Fixes for ROS build

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The ROS build included some files that used isfinite vs PX4_ISFINITE.

The AppState class also needed to be supported for ROS.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
This commit is contained in:
Mark Charlebois
2015-05-19 10:41:15 -07:00
parent 49a200d834
commit 0f5cb75692
6 changed files with 25 additions and 20 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/mc_att_control_multiplatform/mc_att_control.cpp
+4 -4
View File
@@ -236,10 +236,10 @@ void MulticopterAttitudeControl::handle_vehicle_attitude(const px4_vehicle_atti
control_attitude_rates(dt);
/* publish actuator controls */
_actuators.data().control[0] = (isfinite(_att_control(0))) ? _att_control(0) : 0.0f;
_actuators.data().control[1] = (isfinite(_att_control(1))) ? _att_control(1) : 0.0f;
_actuators.data().control[2] = (isfinite(_att_control(2))) ? _att_control(2) : 0.0f;
_actuators.data().control[3] = (isfinite(_thrust_sp)) ? _thrust_sp : 0.0f;
_actuators.data().control[0] = (PX4_ISFINITE(_att_control(0))) ? _att_control(0) : 0.0f;
_actuators.data().control[1] = (PX4_ISFINITE(_att_control(1))) ? _att_control(1) : 0.0f;
_actuators.data().control[2] = (PX4_ISFINITE(_att_control(2))) ? _att_control(2) : 0.0f;
_actuators.data().control[3] = (PX4_ISFINITE(_thrust_sp)) ? _thrust_sp : 0.0f;
_actuators.data().timestamp = px4::get_time_micros();
if (!_actuators_0_circuit_breaker_enabled) {
src/modules/mc_pos_control_multiplatform/mc_pos_control.cpp
+4 -4
View File
@@ -537,7 +537,7 @@ MulticopterPositionControl::control_auto(float dt)
_pos_sp = pos_sp_s.edivide(scale);
/* update yaw setpoint if needed */
if (isfinite(_pos_sp_triplet->data().current.yaw)) {
if (PX4_ISFINITE(_pos_sp_triplet->data().current.yaw)) {
_att_sp_msg.data().yaw_body = _pos_sp_triplet->data().current.yaw;
}
@@ -554,9 +554,9 @@ void MulticopterPositionControl::handle_parameter_update(const px4_parameter_upd
void MulticopterPositionControl::handle_position_setpoint_triplet(const px4_position_setpoint_triplet &msg)
{
/* Make sure that the position setpoint is valid */
if (!isfinite(_pos_sp_triplet->data().current.lat) ||
!isfinite(_pos_sp_triplet->data().current.lon) ||
!isfinite(_pos_sp_triplet->data().current.alt)) {
if (!PX4_ISFINITE(_pos_sp_triplet->data().current.lat) ||
!PX4_ISFINITE(_pos_sp_triplet->data().current.lon) ||
!PX4_ISFINITE(_pos_sp_triplet->data().current.alt)) {
_pos_sp_triplet->data().current.valid = false;
}
}