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Navigator: add guards for using mission_item.loiter_radius only if finite and >FLT_EPS

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer 2022-10-26 13:53:58 +02:00
parent 605d4c47b9
commit 473b471fb6
3 changed files with 13 additions and 6 deletions
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4
src/modules/navigator/mission.cpp
View File

@ -443,7 +443,9 @@ Mission::find_mission_land_start()
_landing_start_lon = missionitem.lon;
_landing_start_alt = missionitem.altitude_is_relative ? missionitem.altitude +
_navigator->get_home_position()->alt : missionitem.altitude;
_landing_loiter_radius = missionitem.loiter_radius;
_landing_loiter_radius = (PX4_ISFINITE(missionitem.loiter_radius)
&& fabsf(missionitem.loiter_radius) > FLT_EPSILON) ? fabsf(missionitem.loiter_radius) :
_navigator->get_loiter_radius();
_land_start_available = true;
}

13
src/modules/navigator/mission_block.cpp
View File

@ -191,6 +191,11 @@ MissionBlock::is_mission_item_reached_or_completed()
const float mission_item_altitude_amsl = get_absolute_altitude_for_item(_mission_item);
// consider mission_item.loiter_radius invalid if NAN or 0, use default value in this case.
const float mission_item_loiter_radius_abs = (PX4_ISFINITE(_mission_item.loiter_radius)
&& fabsf(_mission_item.loiter_radius) > FLT_EPSILON) ? fabsf(_mission_item.loiter_radius) :
_navigator->get_loiter_radius();
dist = get_distance_to_point_global_wgs84(_mission_item.lat, _mission_item.lon, mission_item_altitude_amsl,
_navigator->get_global_position()->lat,
_navigator->get_global_position()->lon,
@ -254,7 +259,7 @@ MissionBlock::is_mission_item_reached_or_completed()
*/
// check if within loiter radius around wp, if yes then set altitude sp to mission item
if (dist >= 0.0f && dist_xy <= (_navigator->get_acceptance_radius() + fabsf(_mission_item.loiter_radius))
if (dist >= 0.0f && dist_xy <= (_navigator->get_acceptance_radius() + mission_item_loiter_radius_abs)
&& dist_z <= _navigator->get_altitude_acceptance_radius()) {
_waypoint_position_reached = true;
@ -276,7 +281,7 @@ MissionBlock::is_mission_item_reached_or_completed()
&dist_xy, &dist_z);
// check if within loiter radius around wp, if yes then set altitude sp to mission item
if (dist >= 0.0f && dist_xy <= (_navigator->get_acceptance_radius() + fabsf(_mission_item.loiter_radius))
if (dist >= 0.0f && dist_xy <= (_navigator->get_acceptance_radius() + mission_item_loiter_radius_abs)
&& dist_z <= _navigator->get_altitude_acceptance_radius()) {
curr_sp->alt = mission_item_altitude_amsl;
@ -284,7 +289,7 @@ MissionBlock::is_mission_item_reached_or_completed()
_navigator->set_position_setpoint_triplet_updated();
}
} else if (dist >= 0.f && dist_xy <= (_navigator->get_acceptance_radius() + fabsf(_mission_item.loiter_radius))
} else if (dist >= 0.f && dist_xy <= (_navigator->get_acceptance_radius() + mission_item_loiter_radius_abs)
&& dist_z <= _navigator->get_altitude_acceptance_radius()) {
// loitering, check if new altitude is reached, while still also having check on position
@ -509,7 +514,7 @@ MissionBlock::is_mission_item_reached_or_completed()
float bearing = get_bearing_to_next_waypoint(curr_sp.lat, curr_sp.lon, next_sp.lat, next_sp.lon);
// calculate (positive) angle between current bearing vector (orbit center to next waypoint) and vector pointing to tangent exit location
const float ratio = math::min(fabsf(_mission_item.loiter_radius / range), 1.0f);
const float ratio = math::min(fabsf(curr_sp.loiter_radius / range), 1.0f);
float inner_angle = acosf(ratio);
// Compute "ideal" tangent origin

2
src/modules/navigator/navigator_main.cpp
View File

@ -344,7 +344,7 @@ void Navigator::run()
}
if (only_alt_change_requested) {
if (PX4_ISFINITE(curr->current.loiter_radius) && curr->current.loiter_radius > 0) {
if (PX4_ISFINITE(curr->current.loiter_radius) && curr->current.loiter_radius > FLT_EPSILON) {
rep->current.loiter_radius = curr->current.loiter_radius;