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commander: avoid uint64 timestamp implicit float conversions

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- 64 bit time in microseconds stored in a 32 bit float quickly becomes problematic
 - fixes https://github.com/PX4/PX4-Autopilot/issues/20944
This commit is contained in:
Daniel Agar
2023-01-19 17:48:40 -05:00
committed by GitHub
parent 3822ef1519
commit bd9d09663f
2 changed files with 11 additions and 3 deletions
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src/modules/commander/HealthAndArmingChecks/checks/offboardCheck.cpp
+4 -1
View File
@@ -42,7 +42,10 @@ void OffboardChecks::checkAndReport(const Context &context, Report &reporter)
offboard_control_mode_s offboard_control_mode;
if (_offboard_control_mode_sub.copy(&offboard_control_mode)) {
bool data_is_recent = hrt_absolute_time() < offboard_control_mode.timestamp + _param_com_of_loss_t.get() * 1_s;
bool data_is_recent = hrt_absolute_time() < offboard_control_mode.timestamp
+ static_cast<hrt_abstime>(_param_com_of_loss_t.get() * 1_s);
bool offboard_available = (offboard_control_mode.position || offboard_control_mode.velocity
|| offboard_control_mode.acceleration || offboard_control_mode.attitude || offboard_control_mode.body_rate
|| offboard_control_mode.actuator) && data_is_recent;
src/modules/commander/failsafe/failsafe.cpp
+7 -2
View File
@@ -426,11 +426,16 @@ void Failsafe::checkStateAndMode(const hrt_abstime &time_us, const State &state,
// Failure detector
if (_armed_time != 0 && time_us - _armed_time < _param_com_spoolup_time.get() * 1_s) {
if ((_armed_time != 0)
&& (time_us < _armed_time + static_cast<hrt_abstime>(_param_com_spoolup_time.get() * 1_s))
) {
CHECK_FAILSAFE(status_flags, fd_esc_arming_failure, Action::Disarm);
}
if (_armed_time != 0 && time_us - _armed_time < (_param_com_lkdown_tko.get() + _param_com_spoolup_time.get()) * 1_s) {
if ((_armed_time != 0)
&& (time_us < _armed_time
+ static_cast<hrt_abstime>((_param_com_lkdown_tko.get() + _param_com_spoolup_time.get()) * 1_s))
) {
// This handles the case where something fails during the early takeoff phase
CHECK_FAILSAFE(status_flags, fd_critical_failure, Action::Disarm);