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Mavlink: Don't use a packed struct as input for the convert_limit_safe function

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- Addional small cleanup of the iridium driver and the include guards of mavlink module header files
This commit is contained in:
acfloria 2018-04-11 13:07:22 +02:00 committed by Beat Küng
parent 477a4e7ec8
commit 0caa4dc171
4 changed files with 31 additions and 24 deletions
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7
src/drivers/telemetry/iridiumsbd/IridiumSBD.h
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@ -88,7 +88,6 @@ extern "C" __EXPORT int iridiumsbd_main(int argc, char *argv[]);
#define SATCOM_RX_MSG_BUF_LEN 270 // RX buffer size for MT messages
#define SATCOM_RX_COMMAND_BUF_LEN 50 // RX buffer size for other commands
#define SATCOM_SIGNAL_REFRESH_DELAY 20000000 // update signal quality every 20s
#define MAVLINK_PACKAGE_START 254 // The value of the first byte of the mavlink header
/**
* The driver for the Rockblock 9602 and 9603 RockBlock module for satellite communication over the Iridium satellite system.
@ -308,14 +307,14 @@ private:
char _test_command[32];
hrt_abstime _test_timer = 0;
uint8_t _rx_command_buf[SATCOM_RX_COMMAND_BUF_LEN] = {0};
uint8_t _rx_command_buf[SATCOM_RX_COMMAND_BUF_LEN] = {};
int _rx_command_len = 0;
uint8_t _rx_msg_buf[SATCOM_RX_MSG_BUF_LEN] = {0};
uint8_t _rx_msg_buf[SATCOM_RX_MSG_BUF_LEN] = {};
int _rx_msg_end_idx = 0;
int _rx_msg_read_idx = 0;
uint8_t _tx_buf[SATCOM_TX_BUF_LEN] = {0};
uint8_t _tx_buf[SATCOM_TX_BUF_LEN] = {};
int _tx_buf_write_idx = 0;
bool _tx_buf_write_pending = false;

28
src/modules/mavlink/mavlink_high_latency2.cpp
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@ -134,7 +134,10 @@ bool MavlinkStreamHighLatency2::send(const hrt_abstime t)
updated |= write_wind_estimate(&msg);
if (updated) {
convert_limit_safe(t / 1000, &msg.timestamp);
uint32_t timestamp;
convert_limit_safe(t / 1000, timestamp);
msg.timestamp = timestamp;
msg.type = _mavlink->get_system_type();
msg.autopilot = MAV_AUTOPILOT_PX4;
@ -280,7 +283,9 @@ bool MavlinkStreamHighLatency2::write_fw_ctrl_status(mavlink_high_latency2_t *ms
const bool updated = _fw_pos_ctrl_status_sub->update(&_fw_pos_ctrl_status_time, &fw_pos_ctrl_status);
if (_fw_pos_ctrl_status_time > 0) {
convert_limit_safe(fw_pos_ctrl_status.wp_dist * 0.1f, &msg->target_distance);
uint16_t target_distance;
convert_limit_safe(fw_pos_ctrl_status.wp_dist * 0.1f, target_distance);
msg->target_distance = target_distance;
}
return updated;
@ -308,16 +313,23 @@ bool MavlinkStreamHighLatency2::write_global_position(mavlink_high_latency2_t *m
const bool updated = _global_pos_sub->update(&_global_pos_time, &global_pos);
if (_global_pos_time > 0) {
convert_limit_safe(global_pos.lat * 1e7, &msg->latitude);
convert_limit_safe(global_pos.lon * 1e7, &msg->longitude);
int32_t latitude, longitude;
convert_limit_safe(global_pos.lat * 1e7, latitude);
convert_limit_safe(global_pos.lon * 1e7, longitude);
msg->latitude = latitude;
msg->longitude = longitude;
int16_t altitude;
if (global_pos.alt > 0) {
convert_limit_safe(global_pos.alt + 0.5f, &msg->altitude);
convert_limit_safe(global_pos.alt + 0.5f, altitude);
} else {
convert_limit_safe(global_pos.alt - 0.5f, &msg->altitude);
convert_limit_safe(global_pos.alt - 0.5f, altitude);
}
msg->altitude = altitude;
msg->heading = static_cast<uint8_t>(math::degrees(_wrap_2pi(global_pos.yaw)) * 0.5f);
}
@ -344,7 +356,9 @@ bool MavlinkStreamHighLatency2::write_tecs_status(mavlink_high_latency2_t *msg)
const bool updated = _tecs_status_sub->update(&_tecs_time, &tecs_status);
if (_tecs_time > 0) {
convert_limit_safe(tecs_status.altitudeSp, &msg->target_altitude);
int16_t target_altitude;
convert_limit_safe(tecs_status.altitudeSp, target_altitude);
msg->target_altitude = target_altitude;
}
return updated;

7
src/modules/mavlink/mavlink_high_latency2.h
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@ -37,14 +37,13 @@
* @author Achermann Florian <acfloria@ethz.ch>
*/
#pragma once
#include "mavlink_main.h"
#include "mavlink_messages.h"
#include "mavlink_simple_analyzer.h"
#include "mavlink_stream.h"
#ifndef MAVLINK_HIGH_LATENCY2_H_
#define MAVLINK_HIGH_LATENCY2_H_
class MavlinkStreamHighLatency2 : public MavlinkStream
{
public:
@ -197,5 +196,3 @@ protected:
void set_default_values(mavlink_high_latency2_t &msg) const;
};
#endif /* MAVLINK_HIGH_LATENCY2_H_ */

13
src/modules/mavlink/mavlink_simple_analyzer.h
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@ -37,8 +37,7 @@
* @author Achermann Florian <acfloria@ethz.ch>
*/
#ifndef MAVLINK_SIMPLE_ANALYZER_H_
#define MAVLINK_SIMPLE_ANALYZER_H_
#pragma once
#include <limits>
@ -137,17 +136,15 @@ private:
};
template<typename Tin, typename Tout>
void convert_limit_safe(Tin in, Tout *out)
void convert_limit_safe(Tin in, Tout &out)
{
if (in > std::numeric_limits<Tout>::max()) {
*out = std::numeric_limits<Tout>::max();
out = std::numeric_limits<Tout>::max();
} else if (in < std::numeric_limits<Tout>::min()) {
*out = std::numeric_limits<Tout>::min();
out = std::numeric_limits<Tout>::min();
} else {
*out = static_cast<Tout>(in);
out = static_cast<Tout>(in);
}
}
#endif /* MAVLINK_SIMPLE_ANALYZER_H_ */