From 1d9d8e6f9b0c2ed930ea1c8996f5fb398b3cf322 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Tue, 12 Jan 2016 12:14:53 +0100
Subject: [PATCH] Use a slight ifdef hack to let things default to C++11 for
 most platforms

---
 matrix/helper_functions.hpp | 14 ++++++++++++--
 1 file changed, 12 insertions(+), 2 deletions(-)

diff --git a/matrix/helper_functions.hpp b/matrix/helper_functions.hpp
index 284644657a..96d2b82751 100644
--- a/matrix/helper_functions.hpp
+++ b/matrix/helper_functions.hpp
@@ -1,8 +1,14 @@
 #pragma once
 
 #include "math.hpp"
-#include <math.h>
 
+// grody hack - this should go once C++11 is supported
+// on all platforms.
+#ifdef __PX4_NUTTX
+#include <math.h>
+#else
+#include <cmath>
+#endif
 
 namespace matrix
 {
@@ -10,7 +16,11 @@ namespace matrix
 template<typename Type>
 Type wrap_pi(Type x)
 {
-    if (!isfinite(Type(x))) {
+#ifdef __PX4_NUTTX
+    if (!isfinite(x)) {
+#else
+    if (!std::isfinite(x)) {
+#endif
         return x;
     }