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Fix division by zero and cast of too big floats to int

This commit is contained in:
Lukas Woodtli 2018-10-24 22:38:38 +02:00 committed by Lorenz Meier
parent 96a33d1afc
commit 6caf0d114d
2 changed files with 60 additions and 15 deletions
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41
src/modules/simulator/accelsim/accelsim.cpp
View File

@ -45,6 +45,7 @@
#include <stdlib.h>
#include <string.h>
#include <math.h>
#include <float.h>
#include <unistd.h>
#include <px4_getopt.h>
#include <errno.h>
@ -81,6 +82,21 @@ extern "C" { __EXPORT int accelsim_main(int argc, char *argv[]); }
using namespace DriverFramework;
namespace
{
/** Save way to check if float is zero */
inline bool isZero(const float &val)
{
return abs(val - 0.0f) < FLT_EPSILON;
}
inline int16_t constrainToInt(float value)
{
return (int16_t)math::constrain(value, (float)INT16_MIN, (float)INT16_MAX);
}
}
class ACCELSIM_mag;
class ACCELSIM : public VirtDevObj
@ -848,9 +864,13 @@ ACCELSIM::_measure()
// whether it has had failures
accel_report.error_count = perf_event_count(_bad_registers) + perf_event_count(_bad_values);
accel_report.x_raw = (int16_t)(raw_accel_report.x / _accel_range_scale);
accel_report.y_raw = (int16_t)(raw_accel_report.y / _accel_range_scale);
accel_report.z_raw = (int16_t)(raw_accel_report.z / _accel_range_scale);
if (isZero(_accel_range_scale)) {
_accel_range_scale = FLT_EPSILON;
}
accel_report.x_raw = constrainToInt(raw_accel_report.x / _accel_range_scale);
accel_report.y_raw = constrainToInt(raw_accel_report.y / _accel_range_scale);
accel_report.z_raw = constrainToInt(raw_accel_report.z / _accel_range_scale);
accel_report.x = raw_accel_report.x;
accel_report.y = raw_accel_report.y;
@ -924,14 +944,17 @@ ACCELSIM::mag_measure()
mag_report.device_id = 196616;
mag_report.is_external = false;
mag_report.x_raw = (int16_t)(raw_mag_report.x / _mag_range_scale);
mag_report.y_raw = (int16_t)(raw_mag_report.y / _mag_range_scale);
mag_report.z_raw = (int16_t)(raw_mag_report.z / _mag_range_scale);
if (isZero(_mag_range_scale)) {
_mag_range_scale = FLT_EPSILON;
}
float xraw_f = (int16_t)(raw_mag_report.x / _mag_range_scale);
float yraw_f = (int16_t)(raw_mag_report.y / _mag_range_scale);
float zraw_f = (int16_t)(raw_mag_report.z / _mag_range_scale);
float xraw_f = constrainToInt(raw_mag_report.x / _mag_range_scale);
float yraw_f = constrainToInt(raw_mag_report.y / _mag_range_scale);
float zraw_f = constrainToInt(raw_mag_report.z / _mag_range_scale);
mag_report.x_raw = xraw_f;
mag_report.y_raw = yraw_f;
mag_report.z_raw = zraw_f;
/* apply user specified rotation */
rotate_3f(_rotation, xraw_f, yraw_f, zraw_f);

34
src/modules/simulator/gyrosim/gyrosim.cpp
View File

@ -109,6 +109,20 @@ using namespace DriverFramework;
#define EXTERNAL_BUS 0
#endif
namespace
{
/** Save way to check if float is zero */
inline bool isZero(const float &val)
{
return abs(val - 0.0f) < FLT_EPSILON;
}
inline int16_t constrainToInt(float value)
{
return (int16_t)math::constrain(value, (float)INT16_MIN, (float)INT16_MAX);
}
}
/*
the GYROSIM can only handle high SPI bus speeds on the sensor and
interrupt status registers. All other registers have a maximum 1MHz
@ -945,9 +959,13 @@ GYROSIM::_measure()
/* NOTE: Axes have been swapped to match the board a few lines above. */
arb.x_raw = (int16_t)(mpu_report.accel_x / _accel_range_scale);
arb.y_raw = (int16_t)(mpu_report.accel_y / _accel_range_scale);
arb.z_raw = (int16_t)(mpu_report.accel_z / _accel_range_scale);
if (isZero(_accel_range_scale)) {
_accel_range_scale = FLT_EPSILON;
}
arb.x_raw = constrainToInt(mpu_report.accel_x / _accel_range_scale);
arb.y_raw = constrainToInt(mpu_report.accel_y / _accel_range_scale);
arb.z_raw = constrainToInt(mpu_report.accel_z / _accel_range_scale);
arb.scaling = _accel_range_scale;
@ -970,9 +988,13 @@ GYROSIM::_measure()
/* fake device ID */
arb.device_id = 1376264;
grb.x_raw = (int16_t)(mpu_report.gyro_x / _gyro_range_scale);
grb.y_raw = (int16_t)(mpu_report.gyro_y / _gyro_range_scale);
grb.z_raw = (int16_t)(mpu_report.gyro_z / _gyro_range_scale);
if (isZero(_gyro_range_scale)) {
_gyro_range_scale = FLT_EPSILON;
}
grb.x_raw = constrainToInt(mpu_report.gyro_x / _gyro_range_scale);
grb.y_raw = constrainToInt(mpu_report.gyro_y / _gyro_range_scale);
grb.z_raw = constrainToInt(mpu_report.gyro_z / _gyro_range_scale);
grb.scaling = _gyro_range_scale;