From 113853f6316b39caf593ec9bf0eb67ef82dda18f Mon Sep 17 00:00:00 2001
From: Ege Kural <kuralme@protonmail.com>
Date: Mon, 16 Mar 2026 17:59:06 -0400
Subject: [PATCH] fix(ci): enable clang-tidy bugprone-unhandled-self-assignment
 / cert-oop54-cpp (#26767)

Signed-off-by: kuralme <kuralme@protonmail.com>
---
 .clang-tidy                                                  | 2 --
 platforms/common/uORB/Subscription.hpp                       | 5 +++++
 src/lib/lat_lon_alt/lat_lon_alt.hpp                          | 5 +++++
 src/lib/matrix/matrix/Slice.hpp                              | 5 +++++
 .../ekf2/EKF/bias_estimator/position_bias_estimator.hpp      | 2 +-
 5 files changed, 16 insertions(+), 3 deletions(-)

diff --git a/.clang-tidy b/.clang-tidy
index 3c4757dfef..80bea547df 100644
--- a/.clang-tidy
+++ b/.clang-tidy
@@ -141,8 +141,6 @@ Checks:          '*,
                   -cppcoreguidelines-avoid-goto,
                   -hicpp-avoid-goto,
                   -bugprone-branch-clone,
-                  -bugprone-unhandled-self-assignment,
-                  -cert-oop54-cpp,
                   -performance-enum-size,
                   -readability-avoid-nested-conditional-operator,
                   -cppcoreguidelines-prefer-member-initializer,
diff --git a/platforms/common/uORB/Subscription.hpp b/platforms/common/uORB/Subscription.hpp
index 723427d840..e899762751 100644
--- a/platforms/common/uORB/Subscription.hpp
+++ b/platforms/common/uORB/Subscription.hpp
@@ -92,6 +92,11 @@ public:
 	// copy assignment
 	Subscription &operator=(const Subscription &other)
 	{
+		// Check for self-assignment
+		if (this == &other) {
+			return *this;
+		}
+
 		unsubscribe();
 		_orb_id = other._orb_id;
 		_instance = other._instance;
diff --git a/src/lib/lat_lon_alt/lat_lon_alt.hpp b/src/lib/lat_lon_alt/lat_lon_alt.hpp
index 02614c1862..e72fc5fa79 100644
--- a/src/lib/lat_lon_alt/lat_lon_alt.hpp
+++ b/src/lib/lat_lon_alt/lat_lon_alt.hpp
@@ -87,6 +87,11 @@ public:
 
 	void operator=(const LatLonAlt &lla)
 	{
+		// Protect against self-assignment
+		if (this == &lla) {
+			return;
+		}
+
 		_latitude_rad = lla.latitude_rad();
 		_longitude_rad = lla.longitude_rad();
 		_altitude = lla.altitude();
diff --git a/src/lib/matrix/matrix/Slice.hpp b/src/lib/matrix/matrix/Slice.hpp
index 53d24769e9..e4c14da4f0 100644
--- a/src/lib/matrix/matrix/Slice.hpp
+++ b/src/lib/matrix/matrix/Slice.hpp
@@ -59,6 +59,11 @@ public:
 	// Separate function needed otherwise the default copy constructor matches before the deep copy implementation
 	Self &operator=(const Self &other)
 	{
+		// Protect against self-assignment
+		if (this == &other) {
+			return *this;
+		}
+
 		return this->operator=<M, N>(other);
 	}
 
diff --git a/src/modules/ekf2/EKF/bias_estimator/position_bias_estimator.hpp b/src/modules/ekf2/EKF/bias_estimator/position_bias_estimator.hpp
index 629bb538a1..6d8a5e2213 100644
--- a/src/modules/ekf2/EKF/bias_estimator/position_bias_estimator.hpp
+++ b/src/modules/ekf2/EKF/bias_estimator/position_bias_estimator.hpp
@@ -62,7 +62,7 @@ public:
 		}
 	}
 
-	void fuseBias(Vector2f bias, Vector2f bias_var)
+	void fuseBias(const Vector2f &bias, const Vector2f &bias_var)
 	{
 		if ((_sensor_ref != _sensor) && _is_sensor_fusion_active) {
 			_bias[0].fuseBias(bias(0), bias_var(0));