fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-05-18 20:29:06 +08:00
Code Issues Packages Projects Releases Wiki Activity

sensors: fix data race in VehicleAngularVelocity sensor selection

Browse Source 
Move registerCallback() after all member variable writes in
SensorSelectionUpdate() and reorder Start() to complete initial
sensor selection before registering the sensor_selection callback.
This prevents Run() from reading partially-written members like
_selected_sensor_device_id and _filter_sample_rate_hz on the work
queue thread while Start() is still initializing them.

This fixes TSAN issues in unit tests.
This commit is contained in:
Julian Oes 2026-02-18 20:24:34 +13:00
parent bc0bdb8a84
commit 98287f2b11
No known key found for this signature in database
GPG Key ID: F0ED380FEA56DE41
1 changed files with 25 additions and 18 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

43
src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.cpp
View File

@ -73,16 +73,17 @@ bool VehicleAngularVelocity::Start()
// force initial updates
ParametersUpdate(true);
// initial sensor selection before registering callbacks to avoid data race with Run()
if (!SensorSelectionUpdate(hrt_absolute_time(), true)) {
ScheduleNow();
}
// sensor_selection needed to change the active sensor if the primary stops updating
if (!_sensor_selection_sub.registerCallback()) {
PX4_ERR("callback registration failed");
return false;
}
if (!SensorSelectionUpdate(hrt_absolute_time(), true)) {
ScheduleNow();
}
return true;
}
@ -281,7 +282,7 @@ bool VehicleAngularVelocity::SensorSelectionUpdate(const hrt_abstime &time_now_u
}
if (sensor_gyro_fifo_sub.get().device_id == device_id) {
if (_sensor_gyro_fifo_sub.ChangeInstance(i) && _sensor_gyro_fifo_sub.registerCallback()) {
if (_sensor_gyro_fifo_sub.ChangeInstance(i)) {
// make sure non-FIFO sub is unregistered
_sensor_sub.unregisterCallback();
@ -296,13 +297,16 @@ bool VehicleAngularVelocity::SensorSelectionUpdate(const hrt_abstime &time_now_u
_bias.zero();
_fifo_available = true;
perf_count(_selection_changed_perf);
PX4_DEBUG("selecting sensor_gyro_fifo:%" PRIu8 " %" PRIu32, i, _selected_sensor_device_id);
return true;
// register callback after all member writes to avoid data race with Run()
if (_sensor_gyro_fifo_sub.registerCallback()) {
perf_count(_selection_changed_perf);
PX4_DEBUG("selecting sensor_gyro_fifo:%" PRIu8 " %" PRIu32, i, _selected_sensor_device_id);
return true;
} else {
PX4_ERR("unable to register callback for sensor_gyro_fifo:%" PRIu8 " %" PRIu32,
i, sensor_gyro_fifo_sub.get().device_id);
} else {
PX4_ERR("unable to register callback for sensor_gyro_fifo:%" PRIu8 " %" PRIu32,
i, sensor_gyro_fifo_sub.get().device_id);
}
}
}
}
@ -323,7 +327,7 @@ bool VehicleAngularVelocity::SensorSelectionUpdate(const hrt_abstime &time_now_u
}
if (sensor_gyro_sub.get().device_id == device_id) {
if (_sensor_sub.ChangeInstance(i) && _sensor_sub.registerCallback()) {
if (_sensor_sub.ChangeInstance(i)) {
// make sure FIFO sub is unregistered
_sensor_gyro_fifo_sub.unregisterCallback();
@ -338,13 +342,16 @@ bool VehicleAngularVelocity::SensorSelectionUpdate(const hrt_abstime &time_now_u
_bias.zero();
_fifo_available = false;
perf_count(_selection_changed_perf);
PX4_DEBUG("selecting sensor_gyro:%" PRIu8 " %" PRIu32, i, _selected_sensor_device_id);
return true;
// register callback after all member writes to avoid data race with Run()
if (_sensor_sub.registerCallback()) {
perf_count(_selection_changed_perf);
PX4_DEBUG("selecting sensor_gyro:%" PRIu8 " %" PRIu32, i, _selected_sensor_device_id);
return true;
} else {
PX4_ERR("unable to register callback for sensor_gyro:%" PRIu8 " %" PRIu32,
i, sensor_gyro_sub.get().device_id);
} else {
PX4_ERR("unable to register callback for sensor_gyro:%" PRIu8 " %" PRIu32,
i, sensor_gyro_sub.get().device_id);
}
}
}
}