GCS_MAVLink: Do not operate on variables with NAN set #17865
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tridge
requested changes
Jul 14, 2021
| @@ -2569,6 +2569,9 @@ uint8_t GCS::get_channel_from_port_number(uint8_t port_num) | |||
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| MAV_RESULT GCS_MAVLINK::handle_command_request_message(const mavlink_command_long_t &packet) | |||
| { | |||
| if (isnan(packet.param1)) { | |||
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this would deny on commands that don't use any of the parameters, that doesn't seem reasonable
| out.param2 = in.param2; | ||
| out.param3 = in.param3; | ||
| out.param4 = in.param4; | ||
| out.param1 = isnan(in.param1)?std::numeric_limits<double>::quiet_NaN():in.param1; |
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what impact does this change make?
and why double?
| if (command_long_stores_location((MAV_CMD)in.command)) { | ||
| out.x = in.param5 *1e7; | ||
| out.y = in.param6 *1e7; | ||
| } else { | ||
| out.x = in.param5; | ||
| out.y = in.param6; | ||
| out.x = isnan(in.param5)?std::numeric_limits<double>::quiet_NaN():in.param5; |
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this is putting a nan into an int?
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A discussion about AP's handle of NANs came up here in the 4.1.0 beta testing category https://discuss.ardupilot.org/t/copter-4-1-0-rc1-released-for-beta-testing/75878/32 |
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NeedRework since 2021; please re-open if you want to pursue, having addressed the review comments. |
1 similar comment
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NeedRework since 2021; please re-open if you want to pursue, having addressed the review comments. |
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The variable value that NAN was set to was set to an integer type variable.
This setting caused SITL to stop processing.
I expect ArduPilot to work properly even when NAN is set in GCS.
I know that the GCS developers do not understand the source of ArduPilot.