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mc_pos_control: Protect against NaN and Inf setpoints

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This commit is contained in:
Johan Jansen
2015-01-26 13:58:19 +01:00
committed by Lorenz Meier
parent 18d756dd59
commit 9cc94fcb2d
1 changed files with 8 additions and 1 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
+8 -1
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@@ -726,11 +726,18 @@ MulticopterPositionControl::control_auto(float dt)
reset_alt_sp(); reset_alt_sp();
} }
//Poll position setpoint
bool updated; bool updated;
orb_check(_pos_sp_triplet_sub, &updated); orb_check(_pos_sp_triplet_sub, &updated);
if (updated) { if (updated) {
orb_copy(ORB_ID(position_setpoint_triplet), _pos_sp_triplet_sub, &_pos_sp_triplet); orb_copy(ORB_ID(position_setpoint_triplet), _pos_sp_triplet_sub, &_pos_sp_triplet);
//Make sure that the position setpoint is valid
if (!isfinite(_pos_sp_triplet.current.lat) ||
!isfinite(_pos_sp_triplet.current.lon) ||
!isfinite(_pos_sp_triplet.current.alt)) {
_pos_sp_triplet.current.valid = false;
}
} }
if (_pos_sp_triplet.current.valid) { if (_pos_sp_triplet.current.valid) {