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mtecs: check if input arguments are finite

This commit is contained in:
Thomas Gubler 2014-05-14 21:54:59 +02:00
parent 4d7cb184db
commit 5d04bb74cb
1 changed files with 17 additions and 1 deletions
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18
src/modules/fw_pos_control_l1/mtecs/mTecs.cpp
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@ -79,6 +79,11 @@ mTecs::~mTecs()
int mTecs::updateAltitudeSpeed(float flightPathAngle, float altitude, float altitudeSp, float airspeed, float airspeedSp, tecs_mode mode)
{
/* check if all input arguments are numbers and abort if not so */
if (!isfinite(flightPathAngle) || !isfinite(altitude) ||
!isfinite(altitudeSp) || !isfinite(airspeed) || !isfinite(airspeedSp) || !isfinite(mode)) {
return -1;
}
/* time measurement */
updateTimeMeasurement();
@ -96,7 +101,13 @@ int mTecs::updateAltitudeSpeed(float flightPathAngle, float altitude, float alti
return updateFlightPathAngleSpeed(flightPathAngle, flightPathAngleSp, airspeed, airspeedSp, mode);
}
int mTecs::updateFlightPathAngleSpeed(float flightPathAngle, float flightPathAngleSp, float airspeed, float airspeedSp, tecs_mode mode) {
int mTecs::updateFlightPathAngleSpeed(float flightPathAngle, float flightPathAngleSp, float airspeed, float airspeedSp, tecs_mode mode)
{
/* check if all input arguments are numbers and abort if not so */
if (!isfinite(flightPathAngle) || !isfinite(flightPathAngleSp) ||
!isfinite(airspeed) || !isfinite(airspeedSp) || !isfinite(mode)) {
return -1;
}
/* time measurement */
updateTimeMeasurement();
@ -115,6 +126,11 @@ int mTecs::updateFlightPathAngleSpeed(float flightPathAngle, float flightPathAng
int mTecs::updateFlightPathAngleAcceleration(float flightPathAngle, float flightPathAngleSp, float airspeed, float accelerationLongitudinalSp, tecs_mode mode)
{
/* check if all input arguments are numbers and abort if not so */
if (!isfinite(flightPathAngle) || !isfinite(flightPathAngleSp) ||
!isfinite(airspeed) || !isfinite(accelerationLongitudinalSp) || !isfinite(mode)) {
return -1;
}
/* time measurement */
updateTimeMeasurement();