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Fixed std::isfinite vs isfinite differences

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Added PX4_ISFINITE(x) to px4_defines.h to handle the differences on
NuttX and Linux.

This change also picked up some file renaming for virtual character devices

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
This commit is contained in:
Mark Charlebois
2015-04-20 11:34:12 -07:00
parent 07b16ffa01
commit 8c8f57b5b4
9 changed files with 39 additions and 39 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
+5 -12
View File
@@ -42,6 +42,7 @@
*/
#include <px4_config.h>
#include <px4_defines.h>
#include <unistd.h>
#include <stdlib.h>
#include <stdio.h>
@@ -536,7 +537,7 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[])
debugOutput);
/* swap values for next iteration, check for fatal inputs */
if (std::isfinite(euler[0]) && std::isfinite(euler[1]) && std::isfinite(euler[2])) {
if (PX4_ISFINITE(euler[0]) && PX4_ISFINITE(euler[1]) && PX4_ISFINITE(euler[2])) {
memcpy(P_aposteriori_k, P_aposteriori, sizeof(P_aposteriori_k));
memcpy(x_aposteriori_k, x_aposteriori, sizeof(x_aposteriori_k));
@@ -546,11 +547,7 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[])
}
if (last_data > 0 && raw.timestamp - last_data > 30000) {
<<<<<<< HEAD
warnx("sensor data missed! (%llu)\n", raw.timestamp - last_data);
=======
warnx("data missed! (%llu)\n", static_cast<unsigned long long>(raw.timestamp - last_data));
>>>>>>> att EKF: Enable execution on Linux
warnx("sensor data missed! (%llu)\n", static_cast<unsigned long long>(raw.timestamp - last_data));
}
last_data = raw.timestamp;
@@ -587,12 +584,8 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[])
memcpy(&att.q[0],&q.data[0],sizeof(att.q));
att.R_valid = true;
<<<<<<< HEAD
if (isfinite(att.q[0]) && isfinite(att.q[1])
&& isfinite(att.q[2]) && isfinite(att.q[3])) {
=======
if (std::isfinite(att.roll) && std::isfinite(att.pitch) && std::isfinite(att.yaw)) {
>>>>>>> att EKF: Enable execution on Linux
if (PX4_ISFINITE(att.q[0]) && PX4_ISFINITE(att.q[1])
&& PX4_ISFINITE(att.q[2]) && PX4_ISFINITE(att.q[3])) {
// Broadcast
orb_publish(ORB_ID(vehicle_attitude), pub_att, &att);