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Use isAllFinite() in all places that check finiteness on entire vectors or matrices

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This commit is contained in:
Matthias Grob
2022-10-19 19:09:20 +02:00
parent 93de9567a5
commit 5ca28dd6dc
38 changed files with 128 additions and 252 deletions
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src/modules/ekf2/EKF/estimator_interface.h
+1 -1
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@@ -121,7 +121,7 @@ public:
void set_vehicle_at_rest(bool at_rest) { _control_status.flags.vehicle_at_rest = at_rest; }
// return true if the attitude is usable
bool attitude_valid() const { return PX4_ISFINITE(_output_new.quat_nominal(0)) && _control_status.flags.tilt_align; }
bool attitude_valid() const { return _output_new.quat_nominal.isAllFinite() && _control_status.flags.tilt_align; }
// get vehicle landed status data
bool get_in_air_status() const { return _control_status.flags.in_air; }
src/modules/ekf2/EKF/optflow_fusion.cpp
+1 -1
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@@ -346,7 +346,7 @@ void Ekf::fuseOptFlow()
bool Ekf::calcOptFlowBodyRateComp()
{
bool is_body_rate_comp_available = false;
const bool use_flow_sensor_gyro = PX4_ISFINITE(_flow_sample_delayed.gyro_xyz(0)) && PX4_ISFINITE(_flow_sample_delayed.gyro_xyz(1)) && PX4_ISFINITE(_flow_sample_delayed.gyro_xyz(2));
const bool use_flow_sensor_gyro = _flow_sample_delayed.gyro_xyz.isAllFinite();
if (use_flow_sensor_gyro) {
src/modules/ekf2/EKF/optical_flow_control.cpp
+1 -2
View File
@@ -88,8 +88,7 @@ void Ekf::controlOpticalFlowFusion()
const bool is_body_rate_comp_available = calcOptFlowBodyRateComp();
// don't allow invalid flow gyro_xyz to propagate
if (!PX4_ISFINITE(_flow_sample_delayed.gyro_xyz(0)) || !PX4_ISFINITE(_flow_sample_delayed.gyro_xyz(1)) || !PX4_ISFINITE(_flow_sample_delayed.gyro_xyz(2))) {
if (!_flow_sample_delayed.gyro_xyz.isAllFinite()) {
_flow_sample_delayed.gyro_xyz.zero();
}
src/modules/ekf2/EKF2.cpp
+6 -18
View File
@@ -1741,7 +1741,7 @@ bool EKF2::UpdateExtVisionSample(ekf2_timestamps_s &ekf2_timestamps, vehicle_odo
// if error estimates are unavailable, use parameter defined defaults
// check for valid velocity data
if (PX4_ISFINITE(ev_odom.velocity[0]) && PX4_ISFINITE(ev_odom.velocity[1]) && PX4_ISFINITE(ev_odom.velocity[2])) {
if (Vector3f(ev_odom.velocity).isAllFinite()) {
bool velocity_valid = true;
switch (ev_odom.velocity_frame) {
@@ -1770,11 +1770,7 @@ bool EKF2::UpdateExtVisionSample(ekf2_timestamps_s &ekf2_timestamps, vehicle_odo
const float evv_noise_var = sq(_param_ekf2_evv_noise.get());
// velocity measurement error from ev_data or parameters
if (!_param_ekf2_ev_noise_md.get() &&
PX4_ISFINITE(ev_odom.velocity_variance[0]) &&
PX4_ISFINITE(ev_odom.velocity_variance[1]) &&
PX4_ISFINITE(ev_odom.velocity_variance[2])) {
if (!_param_ekf2_ev_noise_md.get() && Vector3f(ev_odom.velocity_variance).isAllFinite()) {
ev_data.velVar(0) = fmaxf(evv_noise_var, ev_odom.velocity_variance[0]);
ev_data.velVar(1) = fmaxf(evv_noise_var, ev_odom.velocity_variance[1]);
ev_data.velVar(2) = fmaxf(evv_noise_var, ev_odom.velocity_variance[2]);
@@ -1788,8 +1784,7 @@ bool EKF2::UpdateExtVisionSample(ekf2_timestamps_s &ekf2_timestamps, vehicle_odo
}
// check for valid position data
if (PX4_ISFINITE(ev_odom.position[0]) && PX4_ISFINITE(ev_odom.position[1]) && PX4_ISFINITE(ev_odom.position[2])) {
if (Vector3f(ev_odom.position).isAllFinite()) {
bool position_valid = true;
// switch (ev_odom.pose_frame) {
@@ -1814,11 +1809,7 @@ bool EKF2::UpdateExtVisionSample(ekf2_timestamps_s &ekf2_timestamps, vehicle_odo
const float evp_noise_var = sq(_param_ekf2_evp_noise.get());
// position measurement error from ev_data or parameters
if (!_param_ekf2_ev_noise_md.get() &&
PX4_ISFINITE(ev_odom.position_variance[0]) &&
PX4_ISFINITE(ev_odom.position_variance[1]) &&
PX4_ISFINITE(ev_odom.position_variance[2])
) {
if (!_param_ekf2_ev_noise_md.get() && Vector3f(ev_odom.position_variance).isAllFinite()) {
ev_data.posVar(0) = fmaxf(evp_noise_var, ev_odom.position_variance[0]);
ev_data.posVar(1) = fmaxf(evp_noise_var, ev_odom.position_variance[1]);
ev_data.posVar(2) = fmaxf(evp_noise_var, ev_odom.position_variance[2]);
@@ -1832,8 +1823,7 @@ bool EKF2::UpdateExtVisionSample(ekf2_timestamps_s &ekf2_timestamps, vehicle_odo
}
// check for valid orientation data
if ((PX4_ISFINITE(ev_odom.q[0]) && PX4_ISFINITE(ev_odom.q[1])
&& PX4_ISFINITE(ev_odom.q[2]) && PX4_ISFINITE(ev_odom.q[3]))
if ((Quatf(ev_odom.q).isAllFinite())
&& ((fabsf(ev_odom.q[0]) > 0.f) || (fabsf(ev_odom.q[1]) > 0.f)
|| (fabsf(ev_odom.q[2]) > 0.f) || (fabsf(ev_odom.q[3]) > 0.f))
) {
@@ -1896,9 +1886,7 @@ bool EKF2::UpdateFlowSample(ekf2_timestamps_s &ekf2_timestamps)
.quality = optical_flow.quality,
};
if (PX4_ISFINITE(optical_flow.pixel_flow[0]) &&
PX4_ISFINITE(optical_flow.pixel_flow[1]) &&
flow.dt < 1) {
if (Vector2f(optical_flow.pixel_flow).isAllFinite() && flow.dt < 1) {
// Save sensor limits reported by the optical flow sensor
_ekf.set_optical_flow_limits(optical_flow.max_flow_rate, optical_flow.min_ground_distance,