Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-26 17:53:59 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_Math: generate internalError on call to Vector3<T>::rotate and Quaternion::from_rotation with bad rotation value

Browse Source
This commit is contained in:
Mark Whitehorn 2020-04-20 07:45:33 -06:00 committed by Andrew Tridgell
parent b658a84124
commit 7d3d664ddf
2 changed files with 14 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
libraries/AP_Math/quaternion.cpp
View File

@ -366,12 +366,16 @@ void Quaternion::from_rotation(enum Rotation rotation)
q3 = 0.06104854f;
return;
case ROTATION_MAX:
case ROTATION_CUSTOM:
// no-op; custom rotations not supported
// Error; custom rotations not supported
AP::internalerror().error(AP_InternalError::error_t::flow_of_control);
return;
case ROTATION_MAX:
break;
}
// rotation invalid
AP::internalerror().error(AP_InternalError::error_t::bad_rotation);
}
// rotate this quaternion by the given rotation

10
libraries/AP_Math/vector3.cpp
View File

@ -19,6 +19,7 @@
#pragma GCC optimize("O2")
#include "AP_Math.h"
#include <AP_InternalError/AP_InternalError.h>
// rotate a vector by a standard rotation, attempting
// to use the minimum number of floating point operations
@ -28,7 +29,6 @@ void Vector3<T>::rotate(enum Rotation rotation)
T tmp;
switch (rotation) {
case ROTATION_NONE:
case ROTATION_MAX:
return;
case ROTATION_YAW_45: {
tmp = HALF_SQRT_2*(float)(x - y);
@ -251,9 +251,15 @@ void Vector3<T>::rotate(enum Rotation rotation)
z = -sin_pitch * tmpx + cos_pitch * tmpz;
return;
}
case ROTATION_CUSTOM: // no-op; caller should perform custom rotations via matrix multiplication
case ROTATION_CUSTOM:
// Error: caller must perform custom rotations via matrix multiplication
AP::internalerror().error(AP_InternalError::error_t::flow_of_control);
return;
case ROTATION_MAX:
break;
}
// rotation invalid
AP::internalerror().error(AP_InternalError::error_t::bad_rotation);
}
template <typename T>