From 46e207106b99f4f4a252ab11185f133584e4948e Mon Sep 17 00:00:00 2001
From: Julian Oes <julian@oes.ch>
Date: Wed, 27 Apr 2016 12:58:22 +0200
Subject: [PATCH] ekf: use `std::isfinite` instead of `isnan`

---
 EKF/ekf.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/EKF/ekf.cpp b/EKF/ekf.cpp
index 74a9562dc8..89e9f3fbbb 100644
--- a/EKF/ekf.cpp
+++ b/EKF/ekf.cpp
@@ -337,8 +337,8 @@ bool Ekf::update()
 	// the output observer always runs
 	calculateOutputStates();
 
-	// check for NaN on attitude states
-	if (isnan(_state.quat_nominal(0)) || isnan(_output_new.quat_nominal(0))) {
+	// check for NaN or inf on attitude states
+	if (!std::isfinite(_state.quat_nominal(0)) || !std::isfinite(_output_new.quat_nominal(0))) {
 		return false;
 	}