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AP_Scheduler: use fill_nanf() on each scheduler function

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This commit is contained in:
Andrew Tridgell 2019-10-01 16:55:48 +10:00
parent cbe34320b5
commit ddde512b74
1 changed files with 15 additions and 0 deletions
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15
libraries/AP_Scheduler/AP_Scheduler.cpp
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@ -114,6 +114,18 @@ void AP_Scheduler::tick(void)
_tick_counter++;
}
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
/*
fill stack with NaN so we can catch use of uninitialised stack
variables in SITL
*/
static void fill_nanf_stack(void)
{
float v[1024];
fill_nanf(v, ARRAY_SIZE(v));
}
#endif
/*
run one tick
this will run as many scheduler tasks as we can in the specified time
@ -173,6 +185,9 @@ void AP_Scheduler::run(uint32_t time_available)
if (_debug > 1 && _perf_counters && _perf_counters[i]) {
hal.util->perf_begin(_perf_counters[i]);
}
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
fill_nanf_stack();
#endif
_tasks[i].function();
if (_debug > 1 && _perf_counters && _perf_counters[i]) {
hal.util->perf_end(_perf_counters[i]);