PX4_ISFINITE use builtin everywhere

src/platforms/posix/drivers/df_bebop_bus_wrapper/df_bebop_bus_wrapper.cpp

@@ -48,6 +48,8 @@
 
 #include <errno.h>
 #include <string.h>
+#include <math.h>
+
 #include <uORB/topics/actuator_outputs.h>
 #include <uORB/topics/actuator_controls.h>
 #include <uORB/topics/actuator_armed.h>

src/platforms/px4_defines.h

@@ -65,12 +65,11 @@
 /* Wrapper for rotation matrices stored in arrays */
 #define PX4_R(_array, _x, _y) PX4_ARRAY2D(_array, 3, _x, _y)
 
-/* Define a usable PX4_ISFINITE. Note that PX4_ISFINITE is ONLY used in C++ files,
- * therefore, by default, we want to use std::isfinite. */
+/* Define PX4_ISFINITE */
 #ifdef __cplusplus
-#include <cmath>
-#define PX4_ISFINITE(x) std::isfinite(x)
-#endif
+constexpr bool PX4_ISFINITE(float x) { return __builtin_isfinite(x); }
+constexpr bool PX4_ISFINITE(double x) { return __builtin_isfinite(x); }
+#endif /* __cplusplus */
 
 #if defined(__PX4_NUTTX) || defined(__PX4_POSIX)
 /****************************************************************************
@@ -117,22 +116,6 @@ typedef param_t px4_param_t;
 #  define offsetof(TYPE, MEMBER) __builtin_offsetof (TYPE, MEMBER)
 #endif
 
-// Workaround for broken NuttX math.h.
-#ifdef __cplusplus
-#include <cmath>
-#undef isfinite
-template<typename T>
-inline bool isfinite(T __y)
-{
-	int __cy = fpclassify(__y);
-	return __cy != FP_INFINITE && __cy != FP_NAN;
-}
-namespace std
-{
-using ::isfinite;
-}
-#endif // __cplusplus
-
 #elif defined(__PX4_POSIX)
 /****************************************************************************
  * POSIX Specific defines
@@ -165,12 +148,6 @@ using ::isfinite;
 #  define PX4_TICKS_PER_SEC 1000L
 #  define SIOCDEVPRIVATE 999999
 
-// HEXAGON's isfinite() is erroneously defined as a macro even for C++,
-// using std::isfinite (using ::isfinite) which is a function, but which
-// appears to be broken because of undefined symbols (ie, _Dtest (C linkage)).
-#  undef PX4_ISFINITE
-#  define PX4_ISFINITE(x) __builtin_isfinite(x)
-
 #else // __PX4_QURT
 
 // All POSIX except QURT.