CI: enable clang-tidy bugprone-incorrect-roundings (#26574)

switched to lroundf and included cmath in all



removed std namespace - quick tested

Signed-off-by: kuralme <kuralme@protonmail.com>

.clang-tidy

@@ -151,7 +151,6 @@ Checks:          '*,
                   -readability-make-member-function-const,
                   -bugprone-assignment-in-if-condition,
                   -bugprone-implicit-widening-of-multiplication-result,
-                  -bugprone-incorrect-roundings,
                   -bugprone-macro-parentheses,
                   -bugprone-multi-level-implicit-pointer-conversion,
                   -bugprone-signed-char-misuse,

src/lib/collision_prevention/CollisionPrevention.cpp

@@ -40,6 +40,8 @@
 #include "CollisionPrevention.hpp"
 #include "ObstacleMath.hpp"
 #include <px4_platform_common/events.h>
+#include <math.h>
+
 
 using namespace matrix;
 
@@ -329,7 +331,7 @@ CollisionPrevention::_enterData(int map_index, float sensor_range, float sensor_
 	//3. this sensor data is out of range, the last reading was as well and this is the sensor with longest range
 	//4. this sensor data is out of range, the last reading was valid and coming from the same sensor
 
-	uint16_t sensor_range_cm = static_cast<uint16_t>(100.0f * sensor_range + 0.5f); //convert to cm
+	uint16_t sensor_range_cm = static_cast<uint16_t>(lroundf(100.0f * sensor_range)); //convert to cm
 
 	if (sensor_reading < sensor_range) {
 		if ((_obstacle_map_body_frame.distances[map_index] < _data_maxranges[map_index]
@@ -406,13 +408,13 @@ CollisionPrevention::_addDistanceSensorData(distance_sensor_s &distance_sensor,
 			ObstacleMath::project_distance_on_horizontal_plane(distance_reading, sensor_yaw_body_rad, vehicle_attitude);
 		}
 
-		uint16_t sensor_range = static_cast<uint16_t>(100.0f * distance_sensor.max_distance + 0.5f); // convert to cm
+		uint16_t sensor_range = static_cast<uint16_t>(lroundf(100.0f * distance_sensor.max_distance)); // convert to cm
 
 		for (int bin = lower_bound; bin <= upper_bound; ++bin) {
 			int wrapped_bin = ObstacleMath::wrap_bin(bin, BIN_COUNT);
 
 			if (_enterData(wrapped_bin, distance_sensor.max_distance, distance_reading)) {
-				_obstacle_map_body_frame.distances[wrapped_bin] = static_cast<uint16_t>(100.0f * distance_reading + 0.5f);
+				_obstacle_map_body_frame.distances[wrapped_bin] = static_cast<uint16_t>(lroundf(100.0f * distance_reading));
 				_data_timestamps[wrapped_bin] = _obstacle_map_body_frame.timestamp;
 				_data_maxranges[wrapped_bin] = sensor_range;
 				_data_fov[wrapped_bin] = 1;

src/lib/mixer_module/functions/FunctionActuatorSet.hpp

@@ -35,6 +35,7 @@
 
 #include "FunctionProviderBase.hpp"
 
+#include <math.h>
 #include <uORB/topics/vehicle_command.h>
 
 /**
@@ -58,7 +59,7 @@ public:
 
 		while (_topic.update(&vehicle_command)) {
 			if (vehicle_command.command == vehicle_command_s::VEHICLE_CMD_DO_SET_ACTUATOR) {
-				int index = (int)(vehicle_command.param7 + 0.5f);
+				int index = static_cast<int>(lroundf(vehicle_command.param7));
 
 				if (index == 0) {
 					if (PX4_ISFINITE(vehicle_command.param1)) { _data[0] = vehicle_command.param1; }

src/lib/rc/sbus.cpp

@@ -237,7 +237,7 @@ sbus1_output(int sbus_fd, uint16_t *values, uint16_t num_values)
 		* currently ignoring single bit channels.  */
 
 		for (unsigned i = 0; (i < num_values) && (i < 16); ++i) {
-			value = (uint16_t)(((values[i] - SBUS_SCALE_OFFSET) / SBUS_SCALE_FACTOR) + .5f);
+			value = static_cast<uint16_t>(lround((values[i] - SBUS_SCALE_OFFSET) / SBUS_SCALE_FACTOR));
 
 			/*protect from out of bounds values and limit to 11 bits*/
 			if (value > 0x07ff) {
@@ -643,7 +643,7 @@ sbus_decode(uint64_t frame_time, uint8_t *frame, uint16_t *values, uint16_t *num
 
 
 		/* convert 0-2048 values to 1000-2000 ppm encoding in a not too sloppy fashion */
-		values[channel] = (uint16_t)(value * SBUS_SCALE_FACTOR + .5f) + SBUS_SCALE_OFFSET;
+		values[channel] = static_cast<uint16_t>(lround(value * SBUS_SCALE_FACTOR) + SBUS_SCALE_OFFSET);
 	}
 
 	/* decode switch channels if data fields are wide enough */

src/lib/rc/st24.cpp

@@ -41,6 +41,7 @@
 
 #include <stdbool.h>
 #include <stdio.h>
+#include <cmath>
 #include "st24.h"
 #include "common_rc.h"
 
@@ -180,13 +181,13 @@ int st24_decode(uint8_t byte, uint8_t *rssi, uint8_t *lost_count, uint16_t *chan
 						channels[chan_index] = ((uint16_t)d->channel[i] << 4);
 						channels[chan_index] |= ((uint16_t)(0xF0 & d->channel[i + 1]) >> 4);
 						/* convert values to 1000-2000 ppm encoding in a not too sloppy fashion */
-						channels[chan_index] = (uint16_t)(channels[chan_index] * ST24_SCALE_FACTOR + .5f) + ST24_SCALE_OFFSET;
+						channels[chan_index] = (uint16_t)lroundf(channels[chan_index] * ST24_SCALE_FACTOR) + ST24_SCALE_OFFSET;
 						chan_index++;
 
 						channels[chan_index] = ((uint16_t)d->channel[i + 2]);
 						channels[chan_index] |= (((uint16_t)(0x0F & d->channel[i + 1])) << 8);
 						/* convert values to 1000-2000 ppm encoding in a not too sloppy fashion */
-						channels[chan_index] = (uint16_t)(channels[chan_index] * ST24_SCALE_FACTOR + .5f) + ST24_SCALE_OFFSET;
+						channels[chan_index] = (uint16_t)lroundf(channels[chan_index] * ST24_SCALE_FACTOR) + ST24_SCALE_OFFSET;
 						chan_index++;
 					}
 				}
@@ -209,13 +210,13 @@ int st24_decode(uint8_t byte, uint8_t *rssi, uint8_t *lost_count, uint16_t *chan
 						channels[chan_index] = ((uint16_t)d->channel[i] << 4);
 						channels[chan_index] |= ((uint16_t)(0xF0 & d->channel[i + 1]) >> 4);
 						/* convert values to 1000-2000 ppm encoding in a not too sloppy fashion */
-						channels[chan_index] = (uint16_t)(channels[chan_index] * ST24_SCALE_FACTOR + .5f) + ST24_SCALE_OFFSET;
+						channels[chan_index] = static_cast<uint16_t>(lroundf(channels[chan_index] * ST24_SCALE_FACTOR) + ST24_SCALE_OFFSET);
 						chan_index++;
 
 						channels[chan_index] = ((uint16_t)d->channel[i + 2]);
 						channels[chan_index] |= (((uint16_t)(0x0F & d->channel[i + 1])) << 8);
 						/* convert values to 1000-2000 ppm encoding in a not too sloppy fashion */
-						channels[chan_index] = (uint16_t)(channels[chan_index] * ST24_SCALE_FACTOR + .5f) + ST24_SCALE_OFFSET;
+						channels[chan_index] = static_cast<uint16_t>(lroundf(channels[chan_index] * ST24_SCALE_FACTOR) + ST24_SCALE_OFFSET);
 						chan_index++;
 					}
 				}

src/modules/commander/Commander.cpp

@@ -981,7 +981,7 @@ Commander::handle_command(const vehicle_command_s &cmd)
 		break;
 
 	case vehicle_command_s::VEHICLE_CMD_SET_NAV_STATE: { // Used from ROS
-			uint8_t desired_nav_state = (uint8_t)(cmd.param1 + 0.5f);
+			uint8_t desired_nav_state = static_cast<uint8_t>(lroundf(cmd.param1));
 
 			if (_user_mode_intention.change(desired_nav_state, getSourceFromCommand(cmd))) {
 				cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED;
@@ -1676,7 +1676,7 @@ unsigned Commander::handleCommandActuatorTest(const vehicle_command_s &cmd)
 
 	actuator_test_s actuator_test{};
 	actuator_test.timestamp = hrt_absolute_time();
-	actuator_test.function = (int)(cmd.param5 + 0.5);
+	actuator_test.function = static_cast<int>(lroundf(cmd.param5));
 
 	if (actuator_test.function < 1000) {
 		const int first_motor_function = 1; // from MAVLink ACTUATOR_OUTPUT_FUNCTION
@@ -1701,7 +1701,7 @@ unsigned Commander::handleCommandActuatorTest(const vehicle_command_s &cmd)
 	actuator_test.value = cmd.param1;
 
 	actuator_test.action = actuator_test_s::ACTION_DO_CONTROL;
-	int timeout_ms = (int)(cmd.param2 * 1000.f + 0.5f);
+	int timeout_ms = static_cast<int>(lroundf(cmd.param2 * 1000.f));
 
 	if (timeout_ms <= 0) {
 		actuator_test.action = actuator_test_s::ACTION_RELEASE_CONTROL;

src/modules/commander/failure_detector/FailureInjector.cpp

@@ -33,6 +33,7 @@
 
 #include "FailureInjector.hpp"
 
+#include <cmath>
 #include <parameters/param.h>
 #include <uORB/topics/actuator_motors.h>
 
@@ -53,15 +54,15 @@ void FailureInjector::update()
 	vehicle_command_s vehicle_command;
 
 	while (_vehicle_command_sub.update(&vehicle_command)) {
-		const int failure_unit = static_cast<int>(vehicle_command.param1 + 0.5f);
+		const int failure_unit = static_cast<int>(lroundf(vehicle_command.param1));
-		const int failure_type = static_cast<int>(vehicle_command.param2 + 0.5f);
+		const int failure_type = static_cast<int>(lroundf(vehicle_command.param2));
 
 		if (vehicle_command.command != vehicle_command_s::VEHICLE_CMD_INJECT_FAILURE
 		    || failure_unit != vehicle_command_s::FAILURE_UNIT_SYSTEM_MOTOR) {
 			continue;
 		}
 
-		const int instance = static_cast<int>(vehicle_command.param3 + 0.5f);
+		const int instance = static_cast<int>(lroundf(vehicle_command.param3));
 		bool supported = false;
 
 		for (int i = 0; i < esc_status_s::CONNECTED_ESC_MAX; i++) {

src/modules/flight_mode_manager/FlightModeManager.cpp

@@ -33,6 +33,7 @@
 
 #include "FlightModeManager.hpp"
 
+#include <cmath>
 #include <lib/mathlib/mathlib.h>
 #include <lib/matrix/matrix/math.hpp>
 
@@ -324,7 +325,7 @@ void FlightModeManager::handleCommand()
 		if (_current_task.task) {
 			// check for other commands not related to task switching
 			if ((command.command == vehicle_command_s::VEHICLE_CMD_DO_CHANGE_SPEED)
-			    && (static_cast<uint8_t>(command.param1 + .5f) == vehicle_command_s::SPEED_TYPE_GROUNDSPEED)
+			    && (static_cast<uint8_t>(lroundf(command.param1)) == vehicle_command_s::SPEED_TYPE_GROUNDSPEED)
 			    && (command.param2 > 0.f)) {
 				_current_task.task->overrideCruiseSpeed(command.param2);
 			}

src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.cpp

@@ -90,7 +90,7 @@ bool FlightTaskOrbit::applyCommandParameters(const vehicle_command_s &command, b
 
 	// commanded heading behaviour
 	if (PX4_ISFINITE(command.param3)) {
-		if (static_cast<uint8_t>(command.param3 + .5f) == vehicle_command_s::ORBIT_YAW_BEHAVIOUR_UNCHANGED) {
+		if (static_cast<uint8_t>(lround(command.param3)) == vehicle_command_s::ORBIT_YAW_BEHAVIOUR_UNCHANGED) {
 			if (!_currently_orbiting) {	// only change the yaw behaviour if we are not actively orbiting
 				_yaw_behaviour = _param_mc_orbit_yaw_mod.get();
 			}

src/modules/fw_mode_manager/FixedWingModeManager.cpp

@@ -33,6 +33,7 @@
 
 #include "FixedWingModeManager.hpp"
 
+#include <cmath>
 #include <px4_platform_common/events.h>
 #include <uORB/topics/longitudinal_control_configuration.h>
 
@@ -139,7 +140,7 @@ FixedWingModeManager::vehicle_command_poll()
 
 		} else if (vehicle_command.command == vehicle_command_s::VEHICLE_CMD_DO_CHANGE_SPEED) {
 
-			if ((static_cast<uint8_t>(vehicle_command.param1 + .5f) == vehicle_command_s::SPEED_TYPE_AIRSPEED)) {
+			if ((static_cast<uint8_t>(lroundf(vehicle_command.param1)) == vehicle_command_s::SPEED_TYPE_AIRSPEED)) {
 				if (vehicle_command.param2 > FLT_EPSILON) {	// param2 is an equivalent airspeed setpoint
 					if (_control_mode_current == FW_POSCTRL_MODE_AUTO) {
 						_pos_sp_triplet.current.cruising_speed = vehicle_command.param2;

src/modules/gimbal/input_mavlink.cpp

@@ -323,9 +323,9 @@ InputMavlinkCmdMount::_process_command(ControlData &control_data, const vehicle_
 		// Stabilization params are ignored. Use MNT_DO_STAB param instead.
 
 		const int params[] = {
-			(int)((float) vehicle_command.param5 + 0.5f),
+			static_cast<int>(lroundf(vehicle_command.param5)),
-			(int)((float) vehicle_command.param6 + 0.5f),
+			static_cast<int>(lroundf(vehicle_command.param6)),
-			(int)(vehicle_command.param7 + 0.5f)
+			static_cast<int>(lroundf(vehicle_command.param7))
 		};
 
 		for (int i = 0; i < 3; ++i) {
@@ -779,9 +779,9 @@ InputMavlinkGimbalV2::_process_command(ControlData &control_data, const vehicle_
 		// Stabilization params are ignored. Use MNT_DO_STAB param instead.
 
 		const int params[] = {
-			(int)((float) vehicle_command.param5 + 0.5f),
+			static_cast<int>(lroundf(vehicle_command.param5)),
-			(int)((float) vehicle_command.param6 + 0.5f),
+			static_cast<int>(lroundf(vehicle_command.param6)),
-			(int)(vehicle_command.param7 + 0.5f)
+			static_cast<int>(lroundf(vehicle_command.param7))
 		};
 
 		for (int i = 0; i < 3; ++i) {

src/modules/logger/logger.cpp

@@ -43,6 +43,7 @@
 #include <string.h>
 #include <stdlib.h>
 #include <time.h>
+#include <math.h>
 
 #include <uORB/uORBMessageFields.hpp>
 #include <uORB/Publication.hpp>
@@ -1185,7 +1186,7 @@ void Logger::handle_vehicle_command_update()
 
 		if (command.command == vehicle_command_s::VEHICLE_CMD_LOGGING_START) {
 
-			if ((int)(command.param1 + 0.5f) != 0) {
+			if (static_cast<int>(lroundf(command.param1)) != 0) {
 				ack_vehicle_command(&command, vehicle_command_ack_s::VEHICLE_CMD_RESULT_UNSUPPORTED);
 
 			} else if (can_start_mavlink_log()) {

src/modules/navigator/mission_base.cpp

@@ -1375,7 +1375,7 @@ bool MissionBase::haveCachedCameraModeItems()
 bool MissionBase::cameraWasTriggering()
 {
 	return (_last_camera_trigger_item.nav_cmd == NAV_CMD_DO_TRIGGER_CONTROL
-		&& (int)(_last_camera_trigger_item.params[0] + 0.5f) == 1) ||
+		&& static_cast<int>(lround(_last_camera_trigger_item.params[0])) == 1) ||
 	       (_last_camera_trigger_item.nav_cmd == NAV_CMD_IMAGE_START_CAPTURE) ||
 	       (_last_camera_trigger_item.nav_cmd == NAV_CMD_DO_SET_CAM_TRIGG_DIST
 		&& _last_camera_trigger_item.params[0] > FLT_EPSILON);

src/modules/simulation/battery_simulator/BatterySimulator.cpp

@@ -32,6 +32,7 @@
  ****************************************************************************/
 
 #include "BatterySimulator.hpp"
+#include <cmath>
 
 ModuleBase::Descriptor BatterySimulator::desc{task_spawn, custom_command, print_usage};
 
@@ -130,9 +131,9 @@ void BatterySimulator::updateCommands()
 		bool handled = false;
 		bool supported = false;
 
-		const int failure_unit = static_cast<int>(vehicle_command.param1 + 0.5f);
+		const int failure_unit = static_cast<int>(lroundf(vehicle_command.param1));
-		const int failure_type = static_cast<int>(vehicle_command.param2 + 0.5f);
+		const int failure_type = static_cast<int>(lroundf(vehicle_command.param2));
-		const int instance = static_cast<int>(vehicle_command.param3 + 0.5f);
+		const int instance = static_cast<int>(lroundf(vehicle_command.param3));
 
 		if (failure_unit == vehicle_command_s::FAILURE_UNIT_SYSTEM_BATTERY) {
 

src/modules/simulation/simulator_mavlink/SimulatorMavlink.cpp

@@ -1255,9 +1255,9 @@ void SimulatorMavlink::check_failure_injections()
 		bool handled = false;
 		bool supported = false;
 
-		const int failure_unit = static_cast<int>(vehicle_command.param1 + 0.5f);
+		const int failure_unit = static_cast<int>(std::lround(vehicle_command.param1));
-		const int failure_type = static_cast<int>(vehicle_command.param2 + 0.5f);
+		const int failure_type = static_cast<int>(std::lround(vehicle_command.param2));
-		const int instance = static_cast<int>(vehicle_command.param3 + 0.5f);
+		const int instance = static_cast<int>(std::lround(vehicle_command.param3));
 
 		if (failure_unit == vehicle_command_s::FAILURE_UNIT_SENSOR_GPS) {
 			handled = true;

src/modules/vtol_att_control/vtol_att_control_main.cpp

@@ -149,7 +149,7 @@ void VtolAttitudeControl::vehicle_cmd_poll()
 
 			uint8_t result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED;
 
-			const int transition_command_param1 = int(vehicle_command.param1 + 0.5f);
+			const int transition_command_param1 = static_cast<int>(lround(vehicle_command.param1));
 
 			// deny transition from MC to FW in Takeoff, Land, RTL and Orbit
 			if (transition_command_param1 == vtol_vehicle_status_s::VEHICLE_VTOL_STATE_FW &&
@@ -162,7 +162,7 @@ void VtolAttitudeControl::vehicle_cmd_poll()
 
 			} else {
 				_transition_command = transition_command_param1;
-				_immediate_transition = (PX4_ISFINITE(vehicle_command.param2)) ? int(vehicle_command.param2 + 0.5f) : false;
+				_immediate_transition = (PX4_ISFINITE(vehicle_command.param2)) ? static_cast<int>(lround(vehicle_command.param2)) : false;
 
 				// reset fixed_wing_system_failure flag when a new transition to FW is triggered
 				if (_transition_command == vtol_vehicle_status_s::VEHICLE_VTOL_STATE_FW) {