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AP_InertialSensor: belt and braces checks

This commit is contained in:
Andy Piper 2024-11-16 16:30:46 +00:00 committed by Andrew Tridgell
parent 277386e6e2
commit 88f6125a94
1 changed files with 9 additions and 6 deletions
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15
libraries/AP_InertialSensor/FastRateBuffer.cpp
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@ -40,7 +40,7 @@ void AP_InertialSensor::enable_fast_rate_buffer()
if (fast_rate_buffer == nullptr) {
fast_rate_buffer = NEW_NOTHROW FastRateBuffer();
}
fast_rate_buffer_enabled = true;
fast_rate_buffer_enabled = fast_rate_buffer != nullptr;
}
// disable the fast rate buffer and stop pushing samples to it
@ -55,7 +55,7 @@ void AP_InertialSensor::disable_fast_rate_buffer()
// get the number of available gyro samples in the fast rate buffer
uint32_t AP_InertialSensor::get_num_gyro_samples()
{
if (fast_rate_buffer == nullptr) {
if (!fast_rate_buffer_enabled || fast_rate_buffer == nullptr) {
return 0;
}
return fast_rate_buffer->get_num_gyro_samples();
@ -64,7 +64,7 @@ uint32_t AP_InertialSensor::get_num_gyro_samples()
// set the rate at which samples are collected, unused samples are dropped
void AP_InertialSensor::set_rate_decimation(uint8_t rdec)
{
if (fast_rate_buffer == nullptr) {
if (!fast_rate_buffer_enabled || fast_rate_buffer == nullptr) {
return;
}
fast_rate_buffer->set_rate_decimation(rdec);
@ -73,13 +73,16 @@ void AP_InertialSensor::set_rate_decimation(uint8_t rdec)
// whether or not to push the current gyro sample
bool AP_InertialSensor::is_rate_loop_gyro_enabled(uint8_t instance) const
{
return fast_rate_buffer_enabled && fast_rate_buffer->use_rate_loop_gyro_samples() && instance == AP::ahrs().get_primary_gyro_index();
if (!fast_rate_buffer_enabled || fast_rate_buffer == nullptr) {
return false;
}
return fast_rate_buffer->use_rate_loop_gyro_samples() && instance == AP::ahrs().get_primary_gyro_index();
}
// get the next available gyro sample from the fast rate buffer
bool AP_InertialSensor::get_next_gyro_sample(Vector3f& gyro)
{
if (!fast_rate_buffer_enabled) {
if (!fast_rate_buffer_enabled || fast_rate_buffer == nullptr) {
return false;
}
@ -109,7 +112,7 @@ void FastRateBuffer::reset()
bool AP_InertialSensor::push_next_gyro_sample(const Vector3f& gyro)
{
if (fast_rate_buffer == nullptr) {
if (!fast_rate_buffer_enabled || fast_rate_buffer == nullptr) {
return false;
}