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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/Orbit/FlightTaskOrbit.cpp
+1 -6
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@@ -169,12 +169,7 @@ bool FlightTaskOrbit::activate(const trajectory_setpoint_s &last_setpoint)
_slew_rate_yaw.setSlewRate(math::radians(_param_mpc_yawrauto_max.get()));
// need a valid position and velocity
ret = ret && PX4_ISFINITE(_position(0))
&& PX4_ISFINITE(_position(1))
&& PX4_ISFINITE(_position(2))
&& PX4_ISFINITE(_velocity(0))
&& PX4_ISFINITE(_velocity(1))
&& PX4_ISFINITE(_velocity(2));
ret = ret && _position.isAllFinite() && _velocity.isAllFinite();
Vector3f pos_prev{last_setpoint.position};
Vector3f vel_prev{last_setpoint.velocity};