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FlightModeManager/FixedwingPositionControl: robustify vehicle command parameter casting

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This commit is contained in:
Matthias Grob
2022-04-12 16:35:02 +02:00
committed by Roman Bapst
parent 6ce3e88f9d
commit f892a624b7
3 changed files with 7 additions and 5 deletions
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src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
+3 -2
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@@ -258,8 +258,9 @@ FixedwingPositionControl::vehicle_command_poll()
abort_landing(true);
}
} else if (vehicle_command.command == vehicle_command_s::VEHICLE_CMD_DO_CHANGE_SPEED
&& (uint8_t)vehicle_command.param1 == vehicle_command_s::SPEED_TYPE_AIRSPEED && vehicle_command.param2 > 0) {
} else if ((vehicle_command.command == vehicle_command_s::VEHICLE_CMD_DO_CHANGE_SPEED)
&& (static_cast<uint8_t>(vehicle_command.param1 + .5f) == vehicle_command_s::SPEED_TYPE_AIRSPEED)
&& (vehicle_command.param2 > 0.f)) {
if (_control_mode_current == FW_POSCTRL_MODE_AUTO) {
_pos_sp_triplet.current.cruising_speed = vehicle_command.param2;