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commander: elapsed time checks avoid subtracting unsigned integers

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- avoid the possibility of unsigned underflow from subtracting two HRT timestamps (uint64_t)
 - most of these aren't problematic, but people tend to replicate the pattern, so it's better to be safe
 - likely wasn't a problem when people were using hrt_absolute_time() in place, but if using an existing timestamp there's the possibility it's older than a more recent topic update
This commit is contained in:
Daniel Agar
2022-10-19 20:21:36 -04:00
committed by GitHub
parent cea185268e
commit 309465858a
4 changed files with 16 additions and 20 deletions
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src/modules/commander/Commander.cpp
+2 -2
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@@ -1699,7 +1699,7 @@ void Commander::run()
const bool nav_state_or_failsafe_changed = handleModeIntentionAndFailsafe();
// Run arming checks @ 10Hz
if (now - _last_health_and_arming_check >= 100_ms || _status_changed || nav_state_or_failsafe_changed) {
if ((now >= _last_health_and_arming_check + 100_ms) || _status_changed || nav_state_or_failsafe_changed) {
_last_health_and_arming_check = now;
perf_begin(_preflight_check_perf);
@@ -1767,7 +1767,7 @@ void Commander::run()
_actuator_armed.prearmed = getPrearmState();
// publish states (armed, control_mode, vehicle_status, failure_detector_status) at 2 Hz or immediately when changed
if (now - _vehicle_status.timestamp >= 500_ms || _status_changed || nav_state_or_failsafe_changed
if ((now >= _vehicle_status.timestamp + 500_ms) || _status_changed || nav_state_or_failsafe_changed
|| !(_actuator_armed == actuator_armed_prev)) {
// publish actuator_armed first (used by output modules)