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AP_Frsky_Telem: add semaphores to ahrs access and fix potential array out of bounds access 

use a semaphore for non atomic ahrs calls and fix a potential array out of bounds
access for faster than sport telemetry links.
This commit is contained in:
yaapu 2020-02-10 14:14:00 -08:00 committed by Andrew Tridgell
parent a9cc776c7d
commit 0c5618c9e7
2 changed files with 29 additions and 28 deletions
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55
libraries/AP_Frsky_Telem/AP_Frsky_Telem.cpp
View File

@ -136,12 +136,12 @@ void AP_Frsky_Telem::update_avg_packet_rate()
* WFQ scheduler
* for FrSky SPort Passthrough (OpenTX) protocol (X-receivers)
*/
void AP_Frsky_Telem::passthrough_wfq_adaptive_scheduler()
void AP_Frsky_Telem::passthrough_wfq_adaptive_scheduler(void)
{
update_avg_packet_rate();
uint32_t now = AP_HAL::millis();
uint8_t max_delay_idx = TIME_SLOT_MAX;
uint8_t max_delay_idx = 0;
float max_delay = 0;
float delay = 0;
@ -151,7 +151,7 @@ void AP_Frsky_Telem::passthrough_wfq_adaptive_scheduler()
check_sensor_status_flags();
// build message queue for ekf_status
check_ekf_status();
// dynamic priorities
bool queue_empty;
{
@ -198,8 +198,6 @@ void AP_Frsky_Telem::passthrough_wfq_adaptive_scheduler()
_passthrough.packet_timer[max_delay_idx] = AP_HAL::millis();
// send packet
switch (max_delay_idx) {
case TIME_SLOT_MAX: // nothing to send
break;
case 0: // 0x5000 status text
if (get_next_msg_chunk()) {
send_uint32(SPORT_DATA_FRAME, DIY_FIRST_ID, _msg_chunk.chunk);
@ -422,9 +420,7 @@ void AP_Frsky_Telem::send_SPort(void)
*/
void AP_Frsky_Telem::send_D(void)
{
const AP_AHRS &_ahrs = AP::ahrs();
const AP_BattMonitor &_battery = AP::battery();
uint32_t now = AP_HAL::millis();
// send frame1 every 200ms
if (now - _D.last_200ms_frame >= 200) {
@ -445,6 +441,7 @@ void AP_Frsky_Telem::send_D(void)
// send frame2 every second
if (now - _D.last_1000ms_frame >= 1000) {
_D.last_1000ms_frame = now;
AP_AHRS &_ahrs = AP::ahrs();
send_uint16(DATA_ID_GPS_COURS_BP, (uint16_t)((_ahrs.yaw_sensor / 100) % 360)); // send heading in degree based on AHRS and not GPS
calc_gps_position();
if (AP::gps().status() >= 3) {
@ -712,13 +709,18 @@ void AP_Frsky_Telem::check_sensor_status_flags(void)
*/
void AP_Frsky_Telem::check_ekf_status(void)
{
const AP_AHRS &_ahrs = AP::ahrs();
// get variances
bool get_variance;
float velVar, posVar, hgtVar, tasVar;
Vector3f magVar;
Vector2f offset;
if (_ahrs.get_variances(velVar, posVar, hgtVar, magVar, tasVar, offset)) {
{
AP_AHRS &_ahrs = AP::ahrs();
WITH_SEMAPHORE(_ahrs.get_semaphore());
get_variance = _ahrs.get_variances(velVar, posVar, hgtVar, magVar, tasVar, offset);
}
if (get_variance) {
uint32_t now = AP_HAL::millis();
if ((now - check_ekf_status_timer) >= 10000) { // prevent repeating any ekf_status message unless 10 seconds have passed
// multiple errors can be reported at a time. Same setup as Mission Planner.
@ -896,14 +898,21 @@ uint32_t AP_Frsky_Telem::calc_ap_status(void)
*/
uint32_t AP_Frsky_Telem::calc_home(void)
{
const AP_AHRS &_ahrs = AP::ahrs();
uint32_t home = 0;
Location loc;
Location home_loc;
bool get_position;
float _relative_home_altitude = 0;
if (_ahrs.get_position(loc)) {
{
AP_AHRS &_ahrs = AP::ahrs();
WITH_SEMAPHORE(_ahrs.get_semaphore());
get_position = _ahrs.get_position(loc);
home_loc = _ahrs.get_home();
}
if (get_position) {
// check home_loc is valid
const Location &home_loc = _ahrs.get_home();
if (home_loc.lat != 0 || home_loc.lng != 0) {
// distance between vehicle and home_loc in meters
home = prep_number(roundf(home_loc.get_distance(loc)), 3, 2);
@ -914,7 +923,7 @@ uint32_t AP_Frsky_Telem::calc_home(void)
_relative_home_altitude = loc.alt;
if (!loc.relative_alt) {
// loc.alt has home altitude added, remove it
_relative_home_altitude -= _ahrs.get_home().alt;
_relative_home_altitude -= home_loc.alt;
}
}
// altitude above home in decimeters
@ -928,17 +937,11 @@ uint32_t AP_Frsky_Telem::calc_home(void)
*/
uint32_t AP_Frsky_Telem::calc_velandyaw(void)
{
AP_AHRS &_ahrs = AP::ahrs();
uint32_t velandyaw;
Vector3f velNED {};
// if we can't get velocity then we use zero for vertical velocity
if (!_ahrs.get_velocity_NED(velNED)) {
velNED.zero();
}
float vspd = get_vspeed_ms();
// vertical velocity in dm/s
velandyaw = prep_number(roundf(-velNED.z * 10), 2, 1);
uint32_t velandyaw = prep_number(roundf(vspd * 10), 2, 1);
AP_AHRS &_ahrs = AP::ahrs();
WITH_SEMAPHORE(_ahrs.get_semaphore());
// horizontal velocity in dm/s (use airspeed if available and enabled - even if not used - otherwise use groundspeed)
const AP_Airspeed *aspeed = _ahrs.get_airspeed();
if (aspeed && aspeed->enabled()) {
@ -957,11 +960,10 @@ uint32_t AP_Frsky_Telem::calc_velandyaw(void)
*/
uint32_t AP_Frsky_Telem::calc_attiandrng(void)
{
const AP_AHRS &_ahrs = AP::ahrs();
const RangeFinder *_rng = RangeFinder::get_singleton();
uint32_t attiandrng;
AP_AHRS &_ahrs = AP::ahrs();
// roll from [-18000;18000] centidegrees to unsigned .2 degree increments [0;1800] (just in case, limit to 2047 (0x7FF) since the value is stored on 11 bits)
attiandrng = ((uint16_t)roundf((_ahrs.roll_sensor + 18000) * 0.05f) & ATTIANDRNG_ROLL_LIMIT);
// pitch from [-9000;9000] centidegrees to unsigned .2 degree increments [0;900] (just in case, limit to 1023 (0x3FF) since the value is stored on 10 bits)
@ -1135,7 +1137,6 @@ void AP_Frsky_Telem::calc_gps_position(void)
}
AP_AHRS &_ahrs = AP::ahrs();
WITH_SEMAPHORE(_ahrs.get_semaphore());
_SPort_data.yaw = (uint16_t)((_ahrs.yaw_sensor / 100) % 360); // heading in degree based on AHRS and not GPS
}

2
libraries/AP_Frsky_Telem/AP_Frsky_Telem.h
View File

@ -199,7 +199,7 @@ private:
500, //0x5004 home 2Hz
500, //0x5008 batt 2 2Hz
500, //0x5003 batt 1 2Hz
1000 //0x5007 parameters 1Hz
1000 //0x5007 parameters 1Hz
};
} _sport_config;