fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-25 16:53:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

mtecs: check if input arguments are finite

Browse Source
This commit is contained in:
Thomas Gubler
2014-05-14 21:54:59 +02:00
parent 4d7cb184db
commit 5d04bb74cb
1 changed files with 17 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/fw_pos_control_l1/mtecs/mTecs.cpp
+17 -1
View File
@@ -79,6 +79,11 @@ mTecs::~mTecs()
int mTecs::updateAltitudeSpeed(float flightPathAngle, float altitude, float altitudeSp, float airspeed, float airspeedSp, tecs_mode mode) int mTecs::updateAltitudeSpeed(float flightPathAngle, float altitude, float altitudeSp, float airspeed, float airspeedSp, tecs_mode mode)
{ {
/* check if all input arguments are numbers and abort if not so */
if (!isfinite(flightPathAngle) || !isfinite(altitude) ||
!isfinite(altitudeSp) || !isfinite(airspeed) || !isfinite(airspeedSp) || !isfinite(mode)) {
return -1;
}
/* time measurement */ /* time measurement */
updateTimeMeasurement(); updateTimeMeasurement();
@@ -96,7 +101,13 @@ int mTecs::updateAltitudeSpeed(float flightPathAngle, float altitude, float alti
return updateFlightPathAngleSpeed(flightPathAngle, flightPathAngleSp, airspeed, airspeedSp, mode); return updateFlightPathAngleSpeed(flightPathAngle, flightPathAngleSp, airspeed, airspeedSp, mode);
} }
int mTecs::updateFlightPathAngleSpeed(float flightPathAngle, float flightPathAngleSp, float airspeed, float airspeedSp, tecs_mode mode) { int mTecs::updateFlightPathAngleSpeed(float flightPathAngle, float flightPathAngleSp, float airspeed, float airspeedSp, tecs_mode mode)
{
/* check if all input arguments are numbers and abort if not so */
if (!isfinite(flightPathAngle) || !isfinite(flightPathAngleSp) ||
!isfinite(airspeed) || !isfinite(airspeedSp) || !isfinite(mode)) {
return -1;
}
/* time measurement */ /* time measurement */
updateTimeMeasurement(); updateTimeMeasurement();
@@ -115,6 +126,11 @@ int mTecs::updateFlightPathAngleSpeed(float flightPathAngle, float flightPathAng
int mTecs::updateFlightPathAngleAcceleration(float flightPathAngle, float flightPathAngleSp, float airspeed, float accelerationLongitudinalSp, tecs_mode mode) int mTecs::updateFlightPathAngleAcceleration(float flightPathAngle, float flightPathAngleSp, float airspeed, float accelerationLongitudinalSp, tecs_mode mode)
{ {
/* check if all input arguments are numbers and abort if not so */
if (!isfinite(flightPathAngle) || !isfinite(flightPathAngleSp) ||
!isfinite(airspeed) || !isfinite(accelerationLongitudinalSp) || !isfinite(mode)) {
return -1;
}
/* time measurement */ /* time measurement */
updateTimeMeasurement(); updateTimeMeasurement();