ekf2: replace `!isnan` with `PX4_ISFINITE` (#4374)

9 years ago · 99286cf1bd
1 changed files with 2 additions and 1 deletions
--- a/src/modules/ekf2/ekf2_main.cpp
+++ b/src/modules/ekf2/ekf2_main.cpp
@ -493,7 +493,8 @@ void Ekf2::task_main()
				@@ -493,7 +493,8 @@ void Ekf2::task_main()
 			flow.gyrodata(2) = optical_flow.gyro_z_rate_integral;
 			flow.dt = optical_flow.integration_timespan;

-			if (!isnan(optical_flow.pixel_flow_y_integral) && !isnan(optical_flow.pixel_flow_x_integral)) {
+			if (PX4_ISFINITE(optical_flow.pixel_flow_y_integral) &&
+			    PX4_ISFINITE(optical_flow.pixel_flow_x_integral)) {
 				_ekf->setOpticalFlowData(optical_flow.timestamp, &flow);
 			}
 		}