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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/mc_pos_control/PositionControl/PositionControl.cpp
+1 -4
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@@ -117,10 +117,7 @@ bool PositionControl::update(const float dt)
}
// There has to be a valid output acceleration and thrust setpoint otherwise something went wrong
valid = valid && PX4_ISFINITE(_acc_sp(0)) && PX4_ISFINITE(_acc_sp(1)) && PX4_ISFINITE(_acc_sp(2));
valid = valid && PX4_ISFINITE(_thr_sp(0)) && PX4_ISFINITE(_thr_sp(1)) && PX4_ISFINITE(_thr_sp(2));
return valid;
return valid && _acc_sp.isAllFinite() && _thr_sp.isAllFinite();
}
void PositionControl::_positionControl()