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ekf: use `std::isfinite` instead of `isnan`

master
Julian Oes 9 years ago
parent
commit
46e207106b
  1. 4
      EKF/ekf.cpp

4
EKF/ekf.cpp

@ -337,8 +337,8 @@ bool Ekf::update() @@ -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;
}

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