From 828363948d4f055dc7241fd4d00379c18d0a0263 Mon Sep 17 00:00:00 2001
From: edouard <edouard>
Date: Thu, 26 Aug 2010 12:58:57 +0000
Subject: [PATCH] Fix for PFD gadget so that it does not freeze the GCS in case
 attitude values are "NaN", which can happen in some situations with the AHRS.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1415 ebee16cc-31ac-478f-84a7-5cbb03baadba
---
 ground/src/plugins/pfd/pfdgadgetwidget.cpp | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/ground/src/plugins/pfd/pfdgadgetwidget.cpp b/ground/src/plugins/pfd/pfdgadgetwidget.cpp
index cca159dc4..16e70440f 100644
--- a/ground/src/plugins/pfd/pfdgadgetwidget.cpp
+++ b/ground/src/plugins/pfd/pfdgadgetwidget.cpp
@@ -789,6 +789,13 @@ void PFDGadgetWidget::moveSky() {
         return;
     }
 
+    // In some instances, it can happen that the rollValue & target are
+    // invalid inside the UAVObjects, and become a "nan" value, which freezes
+    // the PFD and the whole GCS: for this reason, we check this here.
+    // The strange check below works, it is a workaround because "isnan(double)"
+    // is not supported on every compiler.
+    if (rollTarget != rollTarget || pitchTarget != pitchTarget)
+        return;
     //////
     // Roll
     //////