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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
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src/modules/mc_pos_control_multiplatform/mc_pos_control.cpp
+4 -4
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@@ -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;
}
}