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Replay: added floating point exception checking 

allows NaN errors to be caught in gdb
This commit is contained in:
Andrew Tridgell 2014-04-21 15:22:42 +10:00
parent d382fa51ee
commit 7ca08294e7
1 changed files with 4 additions and 1 deletions
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5
Tools/Replay/Replay.pde
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@ -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);