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AP_Math: disable INEXACT flag from Float exception

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This commit is contained in:
bugobliterator 2020-05-13 22:38:19 +05:30 committed by Peter Barker
parent 07907ac81d
commit 05fe49a51f
1 changed files with 9 additions and 7 deletions
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16
libraries/AP_Math/matrix_alg.cpp
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@ -285,7 +285,8 @@ bool inverse4x4(float m[],float invOut[])
uint8_t i;
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
int old = fedisableexcept(FE_OVERFLOW);
//disable FE_INEXACT detection as it fails on mac os runs
int old = fedisableexcept(FE_INEXACT | FE_OVERFLOW);
if (old < 0) {
hal.console->printf("inverse4x4(): warning: error on disabling FE_OVERFLOW floating point exception\n");
}
@ -405,12 +406,6 @@ bool inverse4x4(float m[],float invOut[])
det = m[0] * inv[0] + m[1] * inv[4] + m[2] * inv[8] + m[3] * inv[12];
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
if (old >= 0 && feenableexcept(old) < 0) {
hal.console->printf("inverse4x4(): warning: error on restoring floating exception mask\n");
}
#endif
if (is_zero(det) || isinf(det)){
return false;
}
@ -419,6 +414,13 @@ bool inverse4x4(float m[],float invOut[])
for (i = 0; i < 16; i++)
invOut[i] = inv[i] * det;
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
if (old >= 0 && feenableexcept(old) < 0) {
hal.console->printf("inverse4x4(): warning: error on restoring floating exception mask\n");
}
#endif
return true;
}