fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-21 11:23:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

Fixed std::isfinite vs isfinite differences

Browse Source 
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/mc_att_control/mc_att_control_main.cpp
+6 -5
View File
@@ -54,6 +54,7 @@
*/
#include <px4_config.h>
#include <px4_defines.h>
#include <px4_tasks.h>
#include <stdio.h>
#include <stdlib.h>
@@ -722,7 +723,7 @@ MulticopterAttitudeControl::control_attitude_rates(float dt)
if (fabsf(_att_control(i)) < _thrust_sp) {
float rate_i = _rates_int(i) + _params.rate_i(i) * rates_err(i) * dt;
if (std::isfinite(rate_i) && rate_i > -RATES_I_LIMIT && rate_i < RATES_I_LIMIT &&
if (PX4_ISFINITE(rate_i) && rate_i > -RATES_I_LIMIT && rate_i < RATES_I_LIMIT &&
_att_control(i) > -RATES_I_LIMIT && _att_control(i) < RATES_I_LIMIT) {
_rates_int(i) = rate_i;
}
@@ -859,10 +860,10 @@ MulticopterAttitudeControl::task_main()
control_attitude_rates(dt);
/* publish actuator controls */
_actuators.control[0] = (std::isfinite(_att_control(0))) ? _att_control(0) : 0.0f;
_actuators.control[1] = (std::isfinite(_att_control(1))) ? _att_control(1) : 0.0f;
_actuators.control[2] = (std::isfinite(_att_control(2))) ? _att_control(2) : 0.0f;
_actuators.control[3] = (std::isfinite(_thrust_sp)) ? _thrust_sp : 0.0f;
_actuators.control[0] = (PX4_ISFINITE(_att_control(0))) ? _att_control(0) : 0.0f;
_actuators.control[1] = (PX4_ISFINITE(_att_control(1))) ? _att_control(1) : 0.0f;
_actuators.control[2] = (PX4_ISFINITE(_att_control(2))) ? _att_control(2) : 0.0f;
_actuators.control[3] = (PX4_ISFINITE(_thrust_sp)) ? _thrust_sp : 0.0f;
_actuators.timestamp = hrt_absolute_time();
_actuators.timestamp_sample = _v_att.timestamp;