From d1f3f4c9167223488e4adfa635ec26abfed4ffd2 Mon Sep 17 00:00:00 2001 From: Paul Riseborough Date: Sun, 2 Sep 2018 09:32:01 +1000 Subject: [PATCH] EKF: Use #define function for isfinite check --- EKF/control.cpp | 2 +- EKF/gps_yaw_fusion.cpp | 4 ++-- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/EKF/control.cpp b/EKF/control.cpp index e18713a647..9d96728eda 100644 --- a/EKF/control.cpp +++ b/EKF/control.cpp @@ -513,7 +513,7 @@ void Ekf::controlGpsFusion() // GPS yaw aiding selection logic if ((_params.fusion_mode & MASK_USE_GPSYAW) - && isfinite(_gps_sample_delayed.yaw) + && ISFINITE(_gps_sample_delayed.yaw) && _control_status.flags.tilt_align && (!_control_status.flags.gps_yaw || !_control_status.flags.yaw_align) && (_time_last_imu - _time_last_gps < 2 * GPS_MAX_INTERVAL)) { diff --git a/EKF/gps_yaw_fusion.cpp b/EKF/gps_yaw_fusion.cpp index 61f72db433..da60b57538 100644 --- a/EKF/gps_yaw_fusion.cpp +++ b/EKF/gps_yaw_fusion.cpp @@ -59,7 +59,7 @@ void Ekf::fuseGpsAntYaw() float measured_hdg; // check if data has been set to NAN indicating no measurement - if (isfinite(_gps_sample_delayed.yaw)) { + if (ISFINITE(_gps_sample_delayed.yaw)) { // calculate the observed yaw angle of antenna array, converting a from body to antenna yaw measurement measured_hdg = _gps_sample_delayed.yaw + _gps_yaw_offset; @@ -293,7 +293,7 @@ void Ekf::fuseGpsAntYaw() bool Ekf::resetGpsAntYaw() { // check if data has been set to NAN indicating no measurement - if (isfinite(_gps_sample_delayed.yaw)) { + if (ISFINITE(_gps_sample_delayed.yaw)) { // define the predicted antenna array vector and rotate into earth frame Vector3f ant_vec_bf = {cosf(_gps_yaw_offset), sinf(_gps_yaw_offset), 0.0f};