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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
2022-10-18 16:57:01 +02:00
parent 93de9567a5
commit 5ca28dd6dc
38 changed files with 128 additions and 252 deletions
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src/modules/gimbal/output.cpp
+3 -3
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@@ -213,12 +213,12 @@ void OutputBase::_calculate_angle_output(const hrt_abstime &t)
float dt = math::constrain((t - _last_update) * 1.e-6f, 0.001f, 1.f);
const bool q_setpoint_valid = PX4_ISFINITE(_q_setpoint[0]) && PX4_ISFINITE(_q_setpoint[1])
&& PX4_ISFINITE(_q_setpoint[2]) && PX4_ISFINITE(_q_setpoint[3]);
const matrix::Quatf q_setpoint(_q_setpoint);
const bool q_setpoint_valid = q_setpoint.isAllFinite();
matrix::Eulerf euler_gimbal{};
if (q_setpoint_valid) {
euler_gimbal = matrix::Quatf{_q_setpoint};
euler_gimbal = q_setpoint;
}
for (int i = 0; i < 3; ++i) {