From fc4feb8503bd696968b2112335d3735bef6a9ffd Mon Sep 17 00:00:00 2001
From: Oleg Kalachev <okalachev@gmail.com>
Date: Tue, 29 Jul 2025 18:22:38 +0300
Subject: [PATCH] Fixed

---
 flix/failsafe.ino | 1 -
 flix/util.h       | 8 ++++++++
 2 files changed, 8 insertions(+), 1 deletion(-)

diff --git a/flix/failsafe.ino b/flix/failsafe.ino
index 0d7f34b..d62ce07 100644
--- a/flix/failsafe.ino
+++ b/flix/failsafe.ino
@@ -29,7 +29,6 @@ void autoFailsafe() {
 
 	if (roll != controlRoll || pitch != controlPitch || yaw != controlYaw || abs(throttle - controlThrottle) > 0.05) {
 		if (mode == AUTO && !isfinite(controlMode)) {
-			print("Failsafe: regain control to pilot\n");
 			mode = STAB; // regain control to the pilot
 		}
 	}
diff --git a/flix/util.h b/flix/util.h
index 9e63532..90925d5 100644
--- a/flix/util.h
+++ b/flix/util.h
@@ -19,6 +19,14 @@ float mapff(float x, float in_min, float in_max, float out_min, float out_max) {
 	return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
 }
 
+bool invalid(float x) {
+	return !isfinite(x);
+}
+
+bool valid(float x) {
+	return isfinite(x);
+}
+
 // Wrap angle to [-PI, PI)
 float wrapAngle(float angle) {
 	angle = fmodf(angle, 2 * PI);