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AP_NavEKF3: protect against ExtNav being NaN

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This commit is contained in:
Randy Mackay 2020-06-15 11:27:52 +09:00
parent 989ffb79cd
commit 578800dfbb
1 changed files with 19 additions and 6 deletions
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25
libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp
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@ -945,6 +945,11 @@ void NavEKF3_core::writeDefaultAirSpeed(float airspeed)
void NavEKF3_core::writeExtNavData(const Vector3f &pos, const Quaternion &quat, float posErr, float angErr, uint32_t timeStamp_ms, uint16_t delay_ms, uint32_t resetTime_ms)
{
// protect against NaN
if (pos.is_nan() || isnan(posErr)) {
return;
}
// limit update rate to maximum allowed by sensor buffers and fusion process
// don't try to write to buffer until the filter has been initialised
if (((timeStamp_ms - extNavMeasTime_ms) < frontend->extNavIntervalMin_ms) || !statesInitialised) {
@ -973,19 +978,27 @@ void NavEKF3_core::writeExtNavData(const Vector3f &pos, const Quaternion &quat,
timeStamp_ms = MAX(timeStamp_ms, imuDataDelayed.time_ms);
extNavDataNew.time_ms = timeStamp_ms;
// extract yaw from the attitude
float roll_rad, pitch_rad, yaw_rad;
quat.to_euler(roll_rad, pitch_rad, yaw_rad);
// protect against attitude or angle being NaN
if (!quat.is_nan() && !isnan(angErr)) {
// extract yaw from the attitude
float roll_rad, pitch_rad, yaw_rad;
quat.to_euler(roll_rad, pitch_rad, yaw_rad);
// ensure yaw accuracy is no better than 5 degrees (some callers may send zero)
const float yaw_accuracy_rad = MAX(angErr, radians(5.0f));
writeEulerYawAngle(yaw_rad, yaw_accuracy_rad, timeStamp_ms, 2);
// ensure yaw accuracy is no better than 5 degrees (some callers may send zero)
const float yaw_accuracy_rad = MAX(angErr, radians(5.0f));
writeEulerYawAngle(yaw_rad, yaw_accuracy_rad, timeStamp_ms, 2);
}
storedExtNav.push(extNavDataNew);
}
void NavEKF3_core::writeExtNavVelData(const Vector3f &vel, float err, uint32_t timeStamp_ms, uint16_t delay_ms)
{
// sanity check for NaNs
if (vel.is_nan() || isnan(err)) {
return;
}
if ((timeStamp_ms - extNavVelMeasTime_ms) < frontend->extNavIntervalMin_ms) {
return;
}