From 7ca08294e799c7e41508f4bd994304fef581981a Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Mon, 21 Apr 2014 15:22:42 +1000
Subject: [PATCH] Replay: added floating point exception checking

allows NaN errors to be caught in gdb
---
 Tools/Replay/Replay.pde | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/Tools/Replay/Replay.pde b/Tools/Replay/Replay.pde
index dbe26fdd77..7f21a8c8c3 100644
--- a/Tools/Replay/Replay.pde
+++ b/Tools/Replay/Replay.pde
@@ -47,6 +47,7 @@
 #include <stdio.h>
 #include <getopt.h>
 #include <errno.h>
+#include <fenv.h>
 
 #include "LogReader.h"
 
@@ -84,7 +85,7 @@ static FILE *ekf4f;
 static bool done_parameters;
 static bool done_baro_init;
 static bool done_home_init;
-static uint16_t update_rate;
+static uint16_t update_rate = 50;
 static uint32_t arm_time_ms;
 
 static uint8_t num_user_parameters;
@@ -179,6 +180,8 @@ void setup()
     LogReader.wait_type(LOG_GPS_MSG);
     LogReader.wait_type(LOG_IMU_MSG);
 
+    feenableexcept(FE_INVALID | FE_OVERFLOW);
+
     ahrs.set_compass(&compass);
     ahrs.set_fly_forward(true);
     ahrs.set_wind_estimation(true);