Changeset 45 in flair-src for trunk/lib/FlairMeta/src/UavStateMachine.cpp

Timestamp:

Jul 18, 2016, 4:13:56 PM (9 years ago)

Author:

Sanahuja Guillaume

Message:

added compile info

File:

• trunk/lib/FlairMeta/src/UavStateMachine.cpp (modified) (2 diffs)

trunk/lib/FlairMeta/src/UavStateMachine.cpp

@@ -181 +181 @@
     ComputeThrust(); // logs are added to uz, so it must be updated at last
 
-    //check nan problems
-    if(CheckIsNan(currentTorques.roll,"roll torque")
-       || CheckIsNan(currentTorques.pitch,"pitch torque")
-       || CheckIsNan(currentTorques.yaw,"yaw torque")
-       || CheckIsNan(currentThrust,"thrust")) {
+    //check nan/inf problems
+    if(IsValuePossible(currentTorques.roll,"roll torque")
+       || IsValuePossible(currentTorques.pitch,"pitch torque")
+       || IsValuePossible(currentTorques.yaw,"yaw torque")
+       || IsValuePossible(currentThrust,"thrust")) {
 
       if(failSafeMode) {
@@ -218 +218 @@
 }
 
-bool UavStateMachine::CheckIsNan(float value,std::string desc) {
+bool UavStateMachine::IsValuePossible(float value,std::string desc) {
   if(isnan(value)) {
     Warn("%s is not an number\n",desc.c_str());
+    return true;
+  } else if(isinf(value)) {
+    Warn("%s is infinite\n",desc.c_str());
     return true;
   } else {