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| author | Thomas Gubler <thomasgubler@gmail.com> | 2014-05-14 21:54:59 +0200 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-05-14 21:54:59 +0200 |
| commit | 5d04bb74cbee6e57db4e9b09c02139e1df6954d1 (patch) | |
| tree | 2eee000ccfdfadf5e73fd8d29f9fe92d63f18502 | |
| parent | 4d7cb184dbb94ca8b1747811de84de965a2f007f (diff) | |
| download | px4-firmware-5d04bb74cbee6e57db4e9b09c02139e1df6954d1.tar.gz px4-firmware-5d04bb74cbee6e57db4e9b09c02139e1df6954d1.tar.bz2 px4-firmware-5d04bb74cbee6e57db4e9b09c02139e1df6954d1.zip | |
mtecs: check if input arguments are finite
| -rw-r--r-- | src/modules/fw_pos_control_l1/mtecs/mTecs.cpp | 18 |
1 files changed, 17 insertions, 1 deletions
diff --git a/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp b/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp index 5dba0dcd6..c6301bcdb 100644 --- a/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp +++ b/src/modules/fw_pos_control_l1/mtecs/mTecs.cpp @@ -79,6 +79,11 @@ mTecs::~mTecs() 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 */ updateTimeMeasurement(); @@ -96,7 +101,13 @@ int mTecs::updateAltitudeSpeed(float flightPathAngle, float altitude, float alti 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 */ 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) { + /* 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 */ updateTimeMeasurement(); |