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AP_ExternalAHRS_VectorNav: Address review comments

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Remove unnecessary header
Switch parameters to default initialization
Change pointer casting to prevent a const_cast, and remove doubled sync byte when echoing ASCII messages
Fix Valgrind report by preventing use of nmea_printf on buffers which may not be null-terminated
This commit is contained in:
BLash 2024-07-18 21:02:40 -05:00 committed by Andrew Tridgell
parent 50980ee03e
commit 1d1bb5724e
3 changed files with 18 additions and 19 deletions
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1
libraries/AP_ExternalAHRS/AP_ExternalAHRS_VectorNav.cpp
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@ -16,7 +16,6 @@
support for serial connected AHRS systems
*/
#include <cstdint>
#define ALLOW_DOUBLE_MATH_FUNCTIONS
#include "AP_ExternalAHRS_config.h"

12
libraries/AP_ExternalAHRS/AP_ExternalAHRS_VectorNav.h
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@ -73,13 +73,13 @@ private:
uint16_t pktoffset;
uint16_t bufsize;
struct VN_imu_packet *latest_imu_packet = nullptr;
struct VN_INS_ekf_packet *latest_ins_ekf_packet = nullptr;
struct VN_INS_gnss_packet *latest_ins_gnss_packet = nullptr;
struct VN_imu_packet *latest_imu_packet;
struct VN_INS_ekf_packet *latest_ins_ekf_packet;
struct VN_INS_gnss_packet *latest_ins_gnss_packet;
uint32_t last_pkt1_ms = UINT32_MAX;
uint32_t last_pkt2_ms = UINT32_MAX;
uint32_t last_pkt3_ms = UINT32_MAX;
uint32_t last_pkt1_ms;
uint32_t last_pkt2_ms;
uint32_t last_pkt3_ms;
enum class TYPE {
VN_INS, // Full INS mode, requiring GNSS. Used by VN-2X0 and VN-3X0

24
libraries/SITL/SIM_VectorNav.cpp
View File

@ -129,16 +129,16 @@ void VectorNav::send_imu_packet(void)
pkt.pressure = pressure_Pa*0.001 + rand_float() * 0.01;
const uint8_t sync_byte = 0xFA;
write_to_autopilot((char *)&sync_byte, 1);
write_to_autopilot((char *)&VN_IMU_packet_sim::header, sizeof(VN_IMU_packet_sim::header));
write_to_autopilot((char *)&pkt, sizeof(pkt));
write_to_autopilot((const char *)&sync_byte, 1);
write_to_autopilot((const char *)&VN_IMU_packet_sim::header, sizeof(VN_IMU_packet_sim::header));
write_to_autopilot((const char *)&pkt, sizeof(pkt));
uint16_t crc = crc16_ccitt(&VN_IMU_packet_sim::header[0], sizeof(VN_IMU_packet_sim::header), 0);
crc = crc16_ccitt((const uint8_t *)&pkt, sizeof(pkt), crc);
uint16_t crc2;
swab(&crc, &crc2, 2);
write_to_autopilot((char *)&crc2, sizeof(crc2));
write_to_autopilot((const char *)&crc2, sizeof(crc2));
}
void VectorNav::send_ins_ekf_packet(void)
@ -174,9 +174,9 @@ void VectorNav::send_ins_ekf_packet(void)
pkt.velU = 0.25;
const uint8_t sync_byte = 0xFA;
write_to_autopilot((char *)&sync_byte, 1);
write_to_autopilot((char *)&VN_INS_ekf_packet_sim::header, sizeof(VN_INS_ekf_packet_sim::header));
write_to_autopilot((char *)&pkt, sizeof(pkt));
write_to_autopilot((const char *)&sync_byte, 1);
write_to_autopilot((const char *)&VN_INS_ekf_packet_sim::header, sizeof(VN_INS_ekf_packet_sim::header));
write_to_autopilot((const char *)&pkt, sizeof(pkt));
uint16_t crc = crc16_ccitt(&VN_INS_ekf_packet_sim::header[0], sizeof(VN_INS_ekf_packet_sim::header), 0);
crc = crc16_ccitt((const uint8_t *)&pkt, sizeof(pkt), crc);
@ -184,7 +184,7 @@ void VectorNav::send_ins_ekf_packet(void)
uint16_t crc2;
swab(&crc, &crc2, 2);
write_to_autopilot((char *)&crc2, sizeof(crc2));
write_to_autopilot((const char *)&crc2, sizeof(crc2));
}
void VectorNav::send_ins_gnss_packet(void)
@ -221,9 +221,9 @@ void VectorNav::send_ins_gnss_packet(void)
pkt.fix2 = 3;
const uint8_t sync_byte = 0xFA;
write_to_autopilot((char *)&sync_byte, 1);
write_to_autopilot((char *)&VN_INS_gnss_packet_sim::header, sizeof(VN_INS_gnss_packet_sim::header));
write_to_autopilot((char *)&pkt, sizeof(pkt));
write_to_autopilot((const char *)&sync_byte, 1);
write_to_autopilot((const char *)&VN_INS_gnss_packet_sim::header, sizeof(VN_INS_gnss_packet_sim::header));
write_to_autopilot((const char *)&pkt, sizeof(pkt));
uint16_t crc = crc16_ccitt(&VN_INS_gnss_packet_sim::header[0], sizeof(VN_INS_gnss_packet_sim::header), 0);
crc = crc16_ccitt((const uint8_t *)&pkt, sizeof(pkt), crc);
@ -231,7 +231,7 @@ void VectorNav::send_ins_gnss_packet(void)
uint16_t crc2;
swab(&crc, &crc2, 2);
write_to_autopilot((char *)&crc2, sizeof(crc2));
write_to_autopilot((const char *)&crc2, sizeof(crc2));
}
void VectorNav::nmea_printf(const char *fmt, ...)