diff --git a/EKF/swig/python/CMakeLists.txt b/EKF/swig/python/CMakeLists.txt
index 1845060343..e6319f5b31 100644
--- a/EKF/swig/python/CMakeLists.txt
+++ b/EKF/swig/python/CMakeLists.txt
@@ -14,7 +14,10 @@ set_source_files_properties(../ecl_EKF.i PROPERTIES CPLUSPLUS ON)
 include_directories(../..)
 
 # Add swig module
-swig_add_module(ecl_EKF python ../ecl_EKF.i)
+swig_add_library(ecl_EKF
+	LANGUAGE python
+	SOURCES ../ecl_EKF.i
+)
 swig_link_libraries(ecl_EKF ecl_EKF ${PYTHON_LIBRARIES})
 
 # Files to install with Python
diff --git a/EKF/tests/pytest/test_altitude.py b/EKF/tests/pytest/test_altitude.py
index c32826602f..c7393c2a65 100644
--- a/EKF/tests/pytest/test_altitude.py
+++ b/EKF/tests/pytest/test_altitude.py
@@ -133,13 +133,13 @@ def test_converges_to_baro_altitude(altitude):
     Increase the altitude with a bang-bang acceleration profile to target
     altitude, then wait there for a while and make sure it converges
     """
-    # Due to hypothesis not interacting with pytest, cannot use fixture here
-    ekf, time_usec = initialized_ekf()
+    ekf = ecl_EKF.Ekf()
 
+    time_usec = 1000
     dt_usec = ecl_EKF.Ekf.FILTER_UPDATE_PERIOD_MS * 1000
 
-    # No samples, half are used for ramping up / down to the altitude
-    n_samples = 200
+    # Run for a while
+    n_samples = 10000
 
     # Compute smooth acceleration profile
     rampup_accel = altitude / (((n_samples // 2 // 2) * (dt_usec / 1e6))**2)
diff --git a/Jenkinsfile b/Jenkinsfile
index c5f331d8f6..7308c2712a 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -7,7 +7,7 @@ pipeline {
         stage('Linux GCC') {
           agent {
             docker {
-              image 'px4io/px4-dev-base:2019-01-28'
+              image 'px4io/px4-dev-base:2019-01-31'
               args '-v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
             }
           }
@@ -27,7 +27,7 @@ pipeline {
         stage('Linux Clang') {
           agent {
             docker {
-              image 'px4io/px4-dev-clang:2019-01-28'
+              image 'px4io/px4-dev-clang:2019-01-31'
               args '-v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
             }
           }
@@ -74,7 +74,7 @@ pipeline {
         stage('coverage') {
           agent {
             docker {
-              image 'px4io/px4-dev-ecl:2019-01-28'
+              image 'px4io/px4-dev-ecl:2019-01-31'
               args '-v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
             }
           }
@@ -105,7 +105,7 @@ pipeline {
         stage('EKF pytest') {
           agent {
             docker {
-              image 'px4io/px4-dev-ecl:2019-01-28'
+              image 'px4io/px4-dev-ecl:2019-01-31'
               args '-v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
             }
           }
@@ -123,7 +123,7 @@ pipeline {
         stage('test') {
           agent {
             docker {
-              image 'px4io/px4-dev-ecl:2019-01-28'
+              image 'px4io/px4-dev-ecl:2019-01-31'
               args '-v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
             }
           }
@@ -137,27 +137,10 @@ pipeline {
           }
         }
 
-        stage('test (asan)') {
-          agent {
-            docker {
-              image 'px4io/px4-dev-ecl:2019-01-28'
-              args '-v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
-            }
-          }
-          steps {
-            sh 'export'
-            sh 'ccache -z'
-            sh 'make distclean'
-            sh 'make test_asan'
-            sh 'ccache -s'
-            sh 'make distclean'
-          }
-        }
-
         stage('doxygen') {
           agent {
             docker {
-              image 'px4io/px4-dev-base:2019-01-28'
+              image 'px4io/px4-dev-base:2019-01-31'
               args '-v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
             }
           }
@@ -183,7 +166,7 @@ pipeline {
         stage('PX4/Firmware build') {
           agent {
             docker {
-              image 'px4io/px4-dev-base:2019-01-28'
+              image 'px4io/px4-dev-base:2019-01-31'
               args '-v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
             }
           }
diff --git a/ecl.h b/ecl.h
index fe2b921753..1984fac8be 100644
--- a/ecl.h
+++ b/ecl.h
@@ -67,19 +67,5 @@ using ecl_abstime = uint64_t;
 
 #endif /* PX4_POSIX || PX4_NUTTX */
 
-
-#if defined(__PX4_QURT)
-
-// Missing math.h defines
-#define ISFINITE(x) __builtin_isfinite(x)
-
-#else /* !QuRT */
-
 #include <cmath>
-#if defined(__cplusplus) && !defined(__PX4_NUTTX)
-#define ISFINITE(x) std::isfinite(x)
-#else
-#define ISFINITE(x) isfinite(x)
-#endif
-
-#endif
+#define ISFINITE(x) __builtin_isfinite(x)