Merge pull request #1671 from PX4/ekf_fix

Critical coverity fixes.

src/drivers/px4fmu/fmu.cpp

@@ -1637,12 +1637,15 @@ sensor_reset(int ms)
 
 	fd = open(PX4FMU_DEVICE_PATH, O_RDWR);
 
-	if (fd < 0)
+	if (fd < 0) {
 		errx(1, "open fail");
+	}
 
-	if (ioctl(fd, GPIO_SENSOR_RAIL_RESET, ms) < 0)
-		err(1, "servo arm failed");
+	if (ioctl(fd, GPIO_SENSOR_RAIL_RESET, ms) < 0) {
+		warnx("sensor rail reset failed");
+	}
 
+	close(fd);
 }
 
 void

src/modules/commander/commander.cpp

@@ -1340,7 +1340,7 @@ int commander_thread_main(int argc, char *argv[])
 			status.vtol_fw_permanent_stab = vtol_status.fw_permanent_stab;
 
 			/* Make sure that this is only adjusted if vehicle realy is of type vtol*/
-			if (status.system_type == VEHICLE_TYPE_VTOL_DUOROTOR || VEHICLE_TYPE_VTOL_QUADROTOR) {
+			if ((status.system_type == VEHICLE_TYPE_VTOL_DUOROTOR) || (status.system_type == VEHICLE_TYPE_VTOL_QUADROTOR)) {
 				status.is_rotary_wing = vtol_status.vtol_in_rw_mode;
 			}
 		}

src/modules/ekf_att_pos_estimator/estimator_22states.cpp

@@ -181,9 +181,12 @@ void AttPosEKF::UpdateStrapdownEquationsNED()
     correctedDelAng.x = dAngIMU.x - states[10];
     correctedDelAng.y = dAngIMU.y - states[11];
     correctedDelAng.z = dAngIMU.z - states[12];
-    dVelIMU.x = dVelIMU.x;
-    dVelIMU.y = dVelIMU.y;
-    dVelIMU.z = dVelIMU.z - states[13];
+
+    Vector3f dVelIMURel;
+
+    dVelIMURel.x = dVelIMU.x;
+    dVelIMURel.y = dVelIMU.y;
+    dVelIMURel.z = dVelIMU.z - states[13];
 
     delAngTotal.x += correctedDelAng.x;
     delAngTotal.y += correctedDelAng.y;
@@ -263,9 +266,9 @@ void AttPosEKF::UpdateStrapdownEquationsNED()
 // transform body delta velocities to delta velocities in the nav frame
 // * and + operators have been overloaded
     //delVelNav = Tbn*dVelIMU + gravityNED*dtIMU;
-    delVelNav.x = Tbn.x.x*dVelIMU.x + Tbn.x.y*dVelIMU.y + Tbn.x.z*dVelIMU.z + gravityNED.x*dtIMU;
-    delVelNav.y = Tbn.y.x*dVelIMU.x + Tbn.y.y*dVelIMU.y + Tbn.y.z*dVelIMU.z + gravityNED.y*dtIMU;
-    delVelNav.z = Tbn.z.x*dVelIMU.x + Tbn.z.y*dVelIMU.y + Tbn.z.z*dVelIMU.z + gravityNED.z*dtIMU;
+    delVelNav.x = Tbn.x.x*dVelIMURel.x + Tbn.x.y*dVelIMURel.y + Tbn.x.z*dVelIMURel.z + gravityNED.x*dtIMU;
+    delVelNav.y = Tbn.y.x*dVelIMURel.x + Tbn.y.y*dVelIMURel.y + Tbn.y.z*dVelIMURel.z + gravityNED.y*dtIMU;
+    delVelNav.z = Tbn.z.x*dVelIMURel.x + Tbn.z.y*dVelIMURel.y + Tbn.z.z*dVelIMURel.z + gravityNED.z*dtIMU;
 
 // calculate the magnitude of the nav acceleration (required for GPS
 // variance estimation)

src/modules/uORB/uORB.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Copyright (Cc) 2012-2015 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -230,7 +230,7 @@ ORBDevNode::open(struct file *filp)
 		ret = CDev::open(filp);
 
 		if (ret != OK)
-			free(sd);
+			delete sd;
 
 		return ret;
 	}