From 12f4d6f7033390b5bf5f828a01f6f333e635f3fb Mon Sep 17 00:00:00 2001
From: Julian Oes <julian@oes.ch>
Date: Thu, 28 Apr 2016 16:09:12 +0200
Subject: [PATCH 1/2] ekf: another stab at fixing isfinite for all

The previous solution did not work for Snapdragon, so I needed to copy
what is used in px4_defines.h.
---
 EKF/ekf.cpp | 17 ++++++++++++++++-
 1 file changed, 16 insertions(+), 1 deletion(-)

diff --git a/EKF/ekf.cpp b/EKF/ekf.cpp
index d2fcd3b940..f9d90e9465 100644
--- a/EKF/ekf.cpp
+++ b/EKF/ekf.cpp
@@ -42,6 +42,21 @@
 #include "ekf.h"
 #include "mathlib.h"
 
+#ifndef __PX4_QURT
+#if defined(__cplusplus)
+#include <cmath>
+#define ISFINITE(x) std::isfinite(x)
+#else
+#define ISFINITE(x) isfinite(x)
+#endif
+#endif
+
+#if defined(__PX4_QURT)
+// Missing math.h defines
+#define ISFINITE(x) __builtin_isfinite(x)
+#endif
+
+
 Ekf::Ekf():
 	_filter_initialised(false),
 	_earth_rate_initialised(false),
@@ -343,7 +358,7 @@ bool Ekf::update()
 	calculateOutputStates();
 
 	// check for NaN or inf on attitude states
-	if (!std::isfinite(_state.quat_nominal(0)) || !std::isfinite(_output_new.quat_nominal(0))) {
+	if (!ISFINITE(_state.quat_nominal(0)) || !ISFINITE(_output_new.quat_nominal(0))) {
 		return false;
 	}
 

From f8a48f9cc5600f2833a0c7d16fcf6ba38997a69e Mon Sep 17 00:00:00 2001
From: Julian Oes <julian@oes.ch>
Date: Thu, 28 Apr 2016 16:30:49 +0200
Subject: [PATCH 2/2] ekf: now it should even compile for NuttX

---
 EKF/ekf.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/EKF/ekf.cpp b/EKF/ekf.cpp
index f9d90e9465..9826627baa 100644
--- a/EKF/ekf.cpp
+++ b/EKF/ekf.cpp
@@ -43,7 +43,7 @@
 #include "mathlib.h"
 
 #ifndef __PX4_QURT
-#if defined(__cplusplus)
+#if defined(__cplusplus) && !defined(__PX4_NUTTX)
 #include <cmath>
 #define ISFINITE(x) std::isfinite(x)
 #else