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author | Lorenz Meier <lm@inf.ethz.ch> | 2015-04-03 17:01:32 +0200 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2015-04-03 17:01:32 +0200 |
commit | cc11e8a0985f1a9790510fb3f19447a6c6946ba1 (patch) | |
tree | ec1a57fc67ff2ed92f3bd965ae66edf622dcf374 /src/modules/ekf_att_pos_estimator/estimator_22states.cpp | |
parent | 2b9909d97b446fbb112490d1631e70937beb80bf (diff) | |
download | px4-firmware-cc11e8a0985f1a9790510fb3f19447a6c6946ba1.tar.gz px4-firmware-cc11e8a0985f1a9790510fb3f19447a6c6946ba1.tar.bz2 px4-firmware-cc11e8a0985f1a9790510fb3f19447a6c6946ba1.zip |
EKF: Sync to upstream repo
Diffstat (limited to 'src/modules/ekf_att_pos_estimator/estimator_22states.cpp')
-rw-r--r-- | src/modules/ekf_att_pos_estimator/estimator_22states.cpp | 8 |
1 files changed, 5 insertions, 3 deletions
diff --git a/src/modules/ekf_att_pos_estimator/estimator_22states.cpp b/src/modules/ekf_att_pos_estimator/estimator_22states.cpp index 817590bab..967402fff 100644 --- a/src/modules/ekf_att_pos_estimator/estimator_22states.cpp +++ b/src/modules/ekf_att_pos_estimator/estimator_22states.cpp @@ -41,13 +41,17 @@ #include <string.h> #include <stdio.h> #include <stdarg.h> -#include <math.h> +#include <cmath> #include <algorithm> #ifndef M_PI_F #define M_PI_F static_cast<float>(M_PI) #endif +#ifndef isfinite +#define isfinite(__x) std::isfinite(__x) +#endif + constexpr float EKF_COVARIANCE_DIVERGED = 1.0e8f; AttPosEKF::AttPosEKF() : @@ -2626,11 +2630,9 @@ float AttPosEKF::ConstrainFloat(float val, float min_val, float max_val) ret = val; } -#if 0 if (!isfinite(val)) { ekf_debug("constrain: non-finite!"); } -#endif return ret; } |