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AP_AccelCal: use union instead of reference 

The current approach to access the same memory location by using a
reference is giving this warning:

	../libraries/AP_AccelCal/AccelCalibrator.cpp: In constructor ‘AccelCalibrator::AccelCalibrator()’:
	../libraries/AP_AccelCal/AccelCalibrator.cpp:34:64: warning: dereferencing type-punned pointer will break strict-aliasing rules [-Wstrict-aliasing]
	 _param_struct(*reinterpret_cast<struct param_t *>(&_param_array))
									^
	../libraries/AP_AccelCal/AccelCalibrator.cpp: In member function ‘void AccelCalibrator::run_fit(uint8_t, float&)’:
	../libraries/AP_AccelCal/AccelCalibrator.cpp:336:79: warning: dereferencing type-punned pointer will break strict-aliasing rules [-Wstrict-aliasing]
	     struct param_t &fit_param(*reinterpret_cast<struct param_t *>(&param_array));
                                                                               ^
Using a union allows us to get rid of the warning, make sure the sizes of the
different structs match and have a more elegant solution.
This commit is contained in:
Lucas De Marchi 2016-01-01 20:31:19 -02:00 committed by Andrew Tridgell
parent 841f34effa
commit f3ee7a9a85
2 changed files with 40 additions and 32 deletions
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58
libraries/AP_AccelCal/AccelCalibrator.cpp
View File

@ -30,8 +30,7 @@ const extern AP_HAL::HAL& hal;
AccelCalibrator::AccelCalibrator() :
_conf_tolerance(ACCEL_CAL_TOLERANCE),
_sample_buffer(NULL),
_param_struct(*reinterpret_cast<struct param_t *>(&_param_array))
_sample_buffer(NULL)
{
clear();
}
@ -74,9 +73,9 @@ void AccelCalibrator::start(enum accel_cal_fit_type_t fit_type, uint8_t num_samp
const float theta = 0.5f * acosf(cosf(a) / (1.0f - cosf(a)));
_min_sample_dist = GRAVITY_MSS * 2*sinf(theta/2);
_param_struct.offset = offset;
_param_struct.diag = diag;
_param_struct.offdiag = offdiag;
_param.s.offset = offset;
_param.s.diag = diag;
_param.s.offdiag = offdiag;
switch (_conf_fit_type) {
case ACCEL_CAL_AXIS_ALIGNED_ELLIPSOID:
@ -153,12 +152,12 @@ void AccelCalibrator::new_sample(const Vector3f& delta_velocity, float dt) {
// determines if the result is acceptable
bool AccelCalibrator::accept_result() const {
if (fabsf(_param_struct.offset.x) > GRAVITY_MSS ||
fabsf(_param_struct.offset.y) > GRAVITY_MSS ||
fabsf(_param_struct.offset.z) > GRAVITY_MSS ||
_param_struct.diag.x < 0.8f || _param_struct.diag.x > 1.2f ||
_param_struct.diag.y < 0.8f || _param_struct.diag.y > 1.2f ||
_param_struct.diag.z < 0.8f || _param_struct.diag.z > 1.2f) {
if (fabsf(_param.s.offset.x) > GRAVITY_MSS ||
fabsf(_param.s.offset.y) > GRAVITY_MSS ||
fabsf(_param.s.offset.z) > GRAVITY_MSS ||
_param.s.diag.x < 0.8f || _param.s.diag.x > 1.2f ||
_param.s.diag.y < 0.8f || _param.s.diag.y > 1.2f ||
_param.s.diag.z < 0.8f || _param.s.diag.z > 1.2f) {
return false;
} else {
return true;
@ -183,12 +182,12 @@ bool AccelCalibrator::get_sample_corrected(uint8_t i, Vector3f& s) const {
}
Matrix3f M (
_param_struct.diag.x , _param_struct.offdiag.x , _param_struct.offdiag.y,
_param_struct.offdiag.x , _param_struct.diag.y , _param_struct.offdiag.z,
_param_struct.offdiag.y , _param_struct.offdiag.z , _param_struct.diag.z
_param.s.diag.x , _param.s.offdiag.x , _param.s.offdiag.y,
_param.s.offdiag.x , _param.s.diag.y , _param.s.offdiag.z,
_param.s.offdiag.y , _param.s.offdiag.z , _param.s.diag.z
);
s = M*(s+_param_struct.offset);
s = M*(s+_param.s.offset);
return true;
}
@ -203,20 +202,20 @@ void AccelCalibrator::check_for_timeout() {
// returns spherical fit paramteters
void AccelCalibrator::get_calibration(Vector3f& offset) const {
offset = -_param_struct.offset;
offset = -_param.s.offset;
}
// returns axis aligned ellipsoidal fit parameters
void AccelCalibrator::get_calibration(Vector3f& offset, Vector3f& diag) const {
offset = -_param_struct.offset;
diag = _param_struct.diag;
offset = -_param.s.offset;
diag = _param.s.diag;
}
// returns generic ellipsoidal fit parameters
void AccelCalibrator::get_calibration(Vector3f& offset, Vector3f& diag, Vector3f& offdiag) const {
offset = -_param_struct.offset;
diag = _param_struct.diag;
offdiag = _param_struct.offdiag;
offset = -_param.s.offset;
diag = _param.s.diag;
offdiag = _param.s.offdiag;
}
/////////////////////////////////////////////////////////////
@ -330,10 +329,9 @@ void AccelCalibrator::run_fit(uint8_t max_iterations, float& fitness)
if (_sample_buffer == NULL) {
return;
}
fitness = calc_mean_squared_residuals(_param_struct);
fitness = calc_mean_squared_residuals(_param.s);
float min_fitness = fitness;
VectorP param_array = _param_array;
struct param_t &fit_param(*reinterpret_cast<struct param_t *>(&param_array));
union param_u fit_param = _param;
uint8_t num_iterations = 0;
while(num_iterations < max_iterations) {
@ -348,7 +346,7 @@ void AccelCalibrator::run_fit(uint8_t max_iterations, float& fitness)
VectorN<float,ACCEL_CAL_MAX_NUM_PARAMS> jacob;
calc_jacob(sample, fit_param, jacob);
calc_jacob(sample, fit_param.s, jacob);
for(uint8_t i = 0; i < get_num_params(); i++) {
// compute JTJ
@ -356,7 +354,7 @@ void AccelCalibrator::run_fit(uint8_t max_iterations, float& fitness)
JTJ[i*get_num_params()+j] += jacob[i] * jacob[j];
}
// compute JTFI
JTFI[i] += jacob[i] * calc_residual(sample, fit_param);
JTFI[i] += jacob[i] * calc_residual(sample, fit_param.s);
}
}
@ -366,11 +364,11 @@ void AccelCalibrator::run_fit(uint8_t max_iterations, float& fitness)
for(uint8_t row=0; row < get_num_params(); row++) {
for(uint8_t col=0; col < get_num_params(); col++) {
param_array[row] -= JTFI[col] * JTJ[row*get_num_params()+col];
fit_param.a[row] -= JTFI[col] * JTJ[row*get_num_params()+col];
}
}
fitness = calc_mean_squared_residuals(fit_param);
fitness = calc_mean_squared_residuals(fit_param.s);
if (isnan(fitness) || isinf(fitness)) {
return;
@ -378,7 +376,7 @@ void AccelCalibrator::run_fit(uint8_t max_iterations, float& fitness)
if (fitness < min_fitness) {
min_fitness = fitness;
_param_struct = fit_param;
_param = fit_param;
}
num_iterations++;
@ -403,7 +401,7 @@ float AccelCalibrator::calc_residual(const Vector3f& sample, const struct param_
// converged to LSq estimator so far
float AccelCalibrator::calc_mean_squared_residuals() const
{
return calc_mean_squared_residuals(_param_struct);
return calc_mean_squared_residuals(_param.s);
}
// calculated the total mean squared fitness of all the collected samples using parameters

14
libraries/AP_AccelCal/AccelCalibrator.h
View File

@ -95,6 +95,17 @@ private:
};
typedef VectorN<float, ACCEL_CAL_MAX_NUM_PARAMS> VectorP;
union param_u {
struct param_t s;
VectorN<float, ACCEL_CAL_MAX_NUM_PARAMS> a;
param_u() : a{}
{
static_assert(sizeof(*this) == sizeof(struct param_t),
"Invalid union members: sizes do not match");
}
};
//configuration
uint8_t _conf_num_samples;
float _conf_sample_time;
@ -105,8 +116,7 @@ private:
accel_cal_status_t _status;
struct AccelSample* _sample_buffer;
uint8_t _samples_collected;
struct param_t &_param_struct;
VectorP _param_array;
union param_u _param;
float _fitness;
uint32_t _last_samp_frag_collected_ms;
float _min_sample_dist;