AP_MISSION: Add nan mission sanity checks to various mission commands #24701
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Co-authored-by: Nick Exton <NExton@sypaq.com.au>
peterbarker
requested changes
Aug 25, 2023
libraries/AP_Mission/AP_Mission.cpp
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| packet.param3 = cmd.content.gimbal_manager_pitchyaw.pitch_rate_degs; | ||
| packet.param4 = cmd.content.gimbal_manager_pitchyaw.yaw_rate_degs; | ||
| case MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW: | ||
| packet.param1 = (fabs(packet.param1 - INT8_MAX) < FLT_EPSILON) ? NAN : cmd.content.gimbal_manager_pitchyaw.pitch_angle_deg; |
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AFAICS packet.param1 will always be zero here, so checking it for any other value makes no sense.
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I corrected the issue in my newest commit
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In support of #24691
Hello,
As I continue to troubleshoot ArduPilot compatibility with MAVSDK Mission module, I noticed that several camera action commands did not have proper NaN support. ArduPilot was rejecting what are valid commands according to Mavlink due to invalid parameters:
MAV_CMD_IMAGE_STOP_CAPTURE:
Params 2, 3 and 4 can be set to NaN. Since these are reserved commands, their values are not saved to EEPROM and having these params as NaN has no effect.
MAV_CMD_VIDEO_START_CAPTURE:
Params 3 and 4 can be set to NaN. Since these are reserved commands, their values are not saved to EEPROM and having these params as NaN has no effect.
MAV_CMD_VIDEO_STOP_CAPTURE:
Params 2, 3 and 4 can be set to NaN. Since these are reserved commands, their values are not saved to EEPROM and having these params as NaN has no effect.
MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW:
Params 1, 2, 3 and 4 can be set to NaN. This command is special as commands stored to EEPROM can be NaN. To address this, I wrote the sanity check in a way that only accepts the following three cases:
These three cases are consistent with the implementation in AP_Mount #23053.
In terms of testing, the only testing I have done is in ArduPilot SITL is to see if the commands are accepted. I have not tested with real hardware.