From 028248d1f5c575411fde41883d737cfc92ed9d66 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Mon, 27 Apr 2015 13:08:50 +1000
Subject: [PATCH] HAL_SITL: avoid floating point exceptions on i386

fixes issue #2147
---
 libraries/AP_HAL_AVR_SITL/Scheduler.cpp | 9 +++++++--
 1 file changed, 7 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_HAL_AVR_SITL/Scheduler.cpp b/libraries/AP_HAL_AVR_SITL/Scheduler.cpp
index 21bee7d9dc..70d1257cfc 100644
--- a/libraries/AP_HAL_AVR_SITL/Scheduler.cpp
+++ b/libraries/AP_HAL_AVR_SITL/Scheduler.cpp
@@ -232,10 +232,15 @@ void SITLScheduler::system_initialized() {
         panic(
             PSTR("PANIC: scheduler system initialized called more than once"));
     }
+    int exceptions = FE_OVERFLOW | FE_DIVBYZERO;
+#ifndef __i386__
+    // i386 with gcc doesn't work with FE_INVALID
+    exceptions |= FE_INVALID;
+#endif
     if (_sitlState->_sitl == NULL || _sitlState->_sitl->float_exception) {
-        feenableexcept(FE_INVALID | FE_OVERFLOW | FE_DIVBYZERO);
+        feenableexcept(exceptions);
     } else {
-        feclearexcept(FE_INVALID | FE_OVERFLOW | FE_DIVBYZERO);
+        feclearexcept(exceptions);
     }
     _initialized = true;
 }