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Use isAllFinite() in all places that check finiteness on entire vectors or matrices

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This commit is contained in:
Matthias Grob
2022-10-19 19:09:20 +02:00
parent 93de9567a5
commit 5ca28dd6dc
38 changed files with 128 additions and 252 deletions
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src/modules/ekf2/EKF/estimator_interface.h
+1 -1
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@@ -121,7 +121,7 @@ public:
void set_vehicle_at_rest(bool at_rest) { _control_status.flags.vehicle_at_rest = at_rest; }
// return true if the attitude is usable
bool attitude_valid() const { return PX4_ISFINITE(_output_new.quat_nominal(0)) && _control_status.flags.tilt_align; }
bool attitude_valid() const { return _output_new.quat_nominal.isAllFinite() && _control_status.flags.tilt_align; }
// get vehicle landed status data
bool get_in_air_status() const { return _control_status.flags.in_air; }
src/modules/ekf2/EKF/optflow_fusion.cpp
+1 -1
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@@ -346,7 +346,7 @@ void Ekf::fuseOptFlow()
bool Ekf::calcOptFlowBodyRateComp()
{
bool is_body_rate_comp_available = false;
const bool use_flow_sensor_gyro = PX4_ISFINITE(_flow_sample_delayed.gyro_xyz(0)) && PX4_ISFINITE(_flow_sample_delayed.gyro_xyz(1)) && PX4_ISFINITE(_flow_sample_delayed.gyro_xyz(2));
const bool use_flow_sensor_gyro = _flow_sample_delayed.gyro_xyz.isAllFinite();
if (use_flow_sensor_gyro) {
src/modules/ekf2/EKF/optical_flow_control.cpp
+1 -2
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@@ -88,8 +88,7 @@ void Ekf::controlOpticalFlowFusion()
const bool is_body_rate_comp_available = calcOptFlowBodyRateComp();
// don't allow invalid flow gyro_xyz to propagate
if (!PX4_ISFINITE(_flow_sample_delayed.gyro_xyz(0)) || !PX4_ISFINITE(_flow_sample_delayed.gyro_xyz(1)) || !PX4_ISFINITE(_flow_sample_delayed.gyro_xyz(2))) {
if (!_flow_sample_delayed.gyro_xyz.isAllFinite()) {
_flow_sample_delayed.gyro_xyz.zero();
}