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AP_Math: added rounding functions 

prevent undefined behaviour in float -> integer types
This commit is contained in:
Andrew Tridgell 2022-07-11 09:18:21 +10:00
parent e2a83ba428
commit 88f0a324fd
2 changed files with 31 additions and 0 deletions
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23
libraries/AP_Math/AP_Math.cpp
View File

@ -487,3 +487,26 @@ float degF_to_Kelvin(float temp_f)
{
return (temp_f + 459.67) * 0.55556;
}
/*
conversion functions to prevent undefined behaviour
*/
int16_t float_to_int16(const float v)
{
return int16_t(constrain_float(v, INT16_MIN, INT16_MAX));
}
int32_t float_to_int32(const float v)
{
return int32_t(constrain_float(v, INT32_MIN, INT32_MAX));
}
uint16_t float_to_uint16(const float v)
{
return uint16_t(constrain_float(v, 0, UINT16_MAX));
}
uint32_t float_to_uint32(const float v)
{
return uint32_t(constrain_float(v, 0, UINT32_MAX));
}

8
libraries/AP_Math/AP_Math.h
View File

@ -360,3 +360,11 @@ float fixedwing_turn_rate(float bank_angle_deg, float airspeed);
// convert degrees farenheight to Kelvin
float degF_to_Kelvin(float temp_f);
/*
conversion functions to prevent undefined behaviour
*/
int16_t float_to_int16(const float v);
uint16_t float_to_uint16(const float v);
int32_t float_to_int32(const float v);
uint32_t float_to_uint32(const float v);