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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/flight_mode_manager/tasks/Failsafe/FlightTaskFailsafe.cpp
+3 -3
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@@ -51,13 +51,13 @@ bool FlightTaskFailsafe::update()
{
bool ret = FlightTask::update();
if (PX4_ISFINITE(_position(0)) && PX4_ISFINITE(_position(1))) {
if (matrix::Vector2f(_position).isAllFinite()) {
// stay at current position setpoint
_velocity_setpoint(0) = _velocity_setpoint(1) = 0.f;
_acceleration_setpoint(0) = _acceleration_setpoint(1) = 0.f;
} else if (PX4_ISFINITE(_velocity(0)) && PX4_ISFINITE(_velocity(1))) {
// don't move along xy
} else if (matrix::Vector2f(_velocity).isAllFinite()) {
// don't move horizontally
_position_setpoint(0) = _position_setpoint(1) = NAN;
_acceleration_setpoint(0) = _acceleration_setpoint(1) = NAN;
}