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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/sensors/vehicle_optical_flow/VehicleOpticalFlow.cpp
+1 -5
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@@ -125,11 +125,7 @@ void VehicleOpticalFlow::Run()
// delta angle
// - from sensor_optical_flow if available, otherwise use synchronized sensor_gyro if available
if (sensor_optical_flow.delta_angle_available
&& PX4_ISFINITE(sensor_optical_flow.delta_angle[0])
&& PX4_ISFINITE(sensor_optical_flow.delta_angle[1])
&& PX4_ISFINITE(sensor_optical_flow.delta_angle[2])
) {
if (sensor_optical_flow.delta_angle_available && Vector3f(sensor_optical_flow.delta_angle).isAllFinite()) {
// passthrough integrated gyro if available
_delta_angle += _flow_rotation * Vector3f{sensor_optical_flow.delta_angle};
_delta_angle_available = true;