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EKF: Use #define function for isfinite check

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Paul Riseborough
2018-09-02 09:32:01 +10:00
committed by Paul Riseborough
parent 91f886cb5e
commit d1f3f4c916
2 changed files with 3 additions and 3 deletions
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EKF/control.cpp
+1 -1
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@@ -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)) {