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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-04-22 02:25:38 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-04-22 02:25:38 +0200 |
| commit | 125f0b2f88c390bfde92ebe5423a0913e0e1b114 (patch) | |
| tree | ba5aebd32b6e46710cd3f75b15cd3adea3b17eab /src/modules/ekf_att_pos_estimator/fw_att_pos_estimator_main.cpp | |
| parent | 39a0d4e54db1252678eb8f4ebc872c589da2d9e7 (diff) | |
| download | px4-firmware-125f0b2f88c390bfde92ebe5423a0913e0e1b114.tar.gz px4-firmware-125f0b2f88c390bfde92ebe5423a0913e0e1b114.tar.bz2 px4-firmware-125f0b2f88c390bfde92ebe5423a0913e0e1b114.zip | |
Added trap to filter to catch NaN handling
Diffstat (limited to 'src/modules/ekf_att_pos_estimator/fw_att_pos_estimator_main.cpp')
| -rw-r--r-- | src/modules/ekf_att_pos_estimator/fw_att_pos_estimator_main.cpp | 5 |
1 files changed, 5 insertions, 0 deletions
diff --git a/src/modules/ekf_att_pos_estimator/fw_att_pos_estimator_main.cpp b/src/modules/ekf_att_pos_estimator/fw_att_pos_estimator_main.cpp index c8005f3d3..ac34af48a 100644 --- a/src/modules/ekf_att_pos_estimator/fw_att_pos_estimator_main.cpp +++ b/src/modules/ekf_att_pos_estimator/fw_att_pos_estimator_main.cpp @@ -858,6 +858,11 @@ FixedwingEstimator::task_main() } } + // XXX trap for testing + if (check == 1 || check == 2) { + errx(1, "NUMERIC ERROR IN FILTER"); + } + // If non-zero, we got a filter reset if (check) { |