Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-05-09 22:08:56 +08:00
Code Issues Actions 3 Packages Projects Releases Wiki Activity

- Revert "Check lat,lon null using float instead of double"

Browse Source 
This reverts commit 2b9d24fb32.

 - smaller null island threshold

   1e-7  deg = 1.1 cm
   1e-12 deg = 0.1 um, while still easily catching the exact 0 from missing init

 - add comment explaining checks
This commit is contained in:
Balduin
2026-04-15 12:24:56 +02:00
parent 2b9d24fb32
commit e2bb0c1608
1 changed files with 3 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/navigator/rtl.cpp
+3 -2
View File
@@ -53,6 +53,7 @@ using matrix::wrap_pi;
static constexpr float MAX_DIST_FROM_HOME_FOR_LAND_APPROACHES{10.0f}; // [m] We don't consider safe points valid if the distance from the current home to the safe point is smaller than this distance
static constexpr float MIN_DIST_THRESHOLD = 2.f;
static constexpr double NULL_ISLAND_THRESHOLD_DEG{1e-12};
RTL::RTL(Navigator *navigator) :
NavigatorMode(navigator, vehicle_status_s::NAVIGATION_STATE_AUTO_RTL),
@@ -585,9 +586,9 @@ bool RTL::extractValidSafePointPosition(const mission_item_s &safe_point_item, f
position.lon = safe_point_item.lon;
position.yaw = NAN;
// basic checks protect against invalid data in case of missing init or cache read errors
return PX4_ISFINITE(position.lat) && PX4_ISFINITE(position.lon) && PX4_ISFINITE(position.alt)
&& !((fabsf(static_cast<float>(position.lat)) < FLT_EPSILON)
&& (fabsf(static_cast<float>(position.lon)) < FLT_EPSILON))
&& !((fabs(position.lat) < NULL_ISLAND_THRESHOLD_DEG) && (fabs(position.lon) < NULL_ISLAND_THRESHOLD_DEG))
&& (fabs(position.lat) <= 90.0) && (fabs(position.lon) <= 180.0);
}