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Coverity fixes vol. II (#1792)

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* Coverity fixes vol. II

* Minor fixes
This commit is contained in:
Michal Podhradsky
2016-07-12 13:28:40 -07:00
committed by GitHub
parent 6c4426824e
commit 3365fa9e69
5 changed files with 70 additions and 51 deletions
Download Patch File Download Diff File Expand all files Collapse all files
sw/airborne/firmwares/rotorcraft/guidance/guidance_v_adapt.c
+1 -1
View File
@@ -171,7 +171,7 @@ void gv_adapt_run(int32_t zdd_meas, int32_t thrust_applied, int32_t zd_ref)
}
/* Update State */
gv_adapt_X = gv_adapt_X + (((int64_t)(K * residual)) >> K_FRAC);
gv_adapt_X = gv_adapt_X + ((((int64_t)K * residual)) >> K_FRAC);
/* Output bounds.
* Don't let it climb over a value that would
sw/airborne/math/pprz_algebra_int.c
+54 -46
View File
@@ -353,12 +353,12 @@ void int32_quat_integrate_fi(struct Int32Quat *q, struct Int64Quat *hr, struct I
void int32_quat_vmult(struct Int32Vect3 *v_out, struct Int32Quat *q, struct Int32Vect3 *v_in)
{
const int64_t _2qi2_m1 = ((q->qi * q->qi) >> (INT32_QUAT_FRAC - 1)) - QUAT1_BFP_OF_REAL(1);
const int64_t _2qx2 = (q->qx * q->qx) >> (INT32_QUAT_FRAC - 1);
const int64_t _2qy2 = (q->qy * q->qy) >> (INT32_QUAT_FRAC - 1);
const int64_t _2qz2 = (q->qz * q->qz) >> (INT32_QUAT_FRAC - 1);
const int64_t _2qiqx = (q->qi * q->qx) >> (INT32_QUAT_FRAC - 1);
const int64_t _2qiqy = (q->qi * q->qy) >> (INT32_QUAT_FRAC - 1);
const int64_t _2qiqz = (q->qi * q->qz) >> (INT32_QUAT_FRAC - 1);
const int64_t _2qx2 = ((int64_t const)q->qx * q->qx) >> (INT32_QUAT_FRAC - 1);
const int64_t _2qy2 = ((int64_t const)q->qy * q->qy) >> (INT32_QUAT_FRAC - 1);
const int64_t _2qz2 = ((int64_t const)q->qz * q->qz) >> (INT32_QUAT_FRAC - 1);
const int64_t _2qiqx = ((int64_t const)q->qi * q->qx) >> (INT32_QUAT_FRAC - 1);
const int64_t _2qiqy = ((int64_t const)q->qi * q->qy) >> (INT32_QUAT_FRAC - 1);
const int64_t _2qiqz = ((int64_t const)q->qi * q->qz) >> (INT32_QUAT_FRAC - 1);
const int64_t m01 = ((q->qx * q->qy) >> (INT32_QUAT_FRAC - 1)) + _2qiqz;
const int64_t m02 = ((q->qx * q->qz) >> (INT32_QUAT_FRAC - 1)) - _2qiqy;
const int64_t m12 = ((q->qy * q->qz) >> (INT32_QUAT_FRAC - 1)) + _2qiqx;
@@ -425,16 +425,18 @@ void int32_quat_of_rmat(struct Int32Quat *q, struct Int32RMat *r)
const int32_t two_qi_two = TRIG_BFP_OF_REAL(1.) + tr;
uint32_t two_qi = int32_sqrt(two_qi_two << INT32_TRIG_FRAC);
two_qi = two_qi << (INT32_QUAT_FRAC - INT32_TRIG_FRAC);
q->qi = two_qi / 2;
q->qx = ((RMAT_ELMT(*r, 1, 2) - RMAT_ELMT(*r, 2, 1)) <<
(INT32_QUAT_FRAC - INT32_TRIG_FRAC + INT32_QUAT_FRAC - 1))
/ two_qi;
q->qy = ((RMAT_ELMT(*r, 2, 0) - RMAT_ELMT(*r, 0, 2)) <<
(INT32_QUAT_FRAC - INT32_TRIG_FRAC + INT32_QUAT_FRAC - 1))
/ two_qi;
q->qz = ((RMAT_ELMT(*r, 0, 1) - RMAT_ELMT(*r, 1, 0)) <<
(INT32_QUAT_FRAC - INT32_TRIG_FRAC + INT32_QUAT_FRAC - 1))
/ two_qi;
if (two_qi != 0) {
q->qi = two_qi / 2;
q->qx = ((RMAT_ELMT(*r, 1, 2) - RMAT_ELMT(*r, 2, 1)) <<
(INT32_QUAT_FRAC - INT32_TRIG_FRAC + INT32_QUAT_FRAC - 1))
/ two_qi;
q->qy = ((RMAT_ELMT(*r, 2, 0) - RMAT_ELMT(*r, 0, 2)) <<
(INT32_QUAT_FRAC - INT32_TRIG_FRAC + INT32_QUAT_FRAC - 1))
/ two_qi;
q->qz = ((RMAT_ELMT(*r, 0, 1) - RMAT_ELMT(*r, 1, 0)) <<
(INT32_QUAT_FRAC - INT32_TRIG_FRAC + INT32_QUAT_FRAC - 1))
/ two_qi;
}
} else {
if (RMAT_ELMT(*r, 0, 0) > RMAT_ELMT(*r, 1, 1) &&
RMAT_ELMT(*r, 0, 0) > RMAT_ELMT(*r, 2, 2)) {
@@ -442,46 +444,52 @@ void int32_quat_of_rmat(struct Int32Quat *q, struct Int32RMat *r)
- RMAT_ELMT(*r, 2, 2) + TRIG_BFP_OF_REAL(1.);
uint32_t two_qx = int32_sqrt(two_qx_two << INT32_TRIG_FRAC);
two_qx = two_qx << (INT32_QUAT_FRAC - INT32_TRIG_FRAC);
q->qi = ((RMAT_ELMT(*r, 1, 2) - RMAT_ELMT(*r, 2, 1)) <<
(INT32_QUAT_FRAC - INT32_TRIG_FRAC + INT32_QUAT_FRAC - 1))
/ two_qx;
q->qx = two_qx / 2;
q->qy = ((RMAT_ELMT(*r, 0, 1) + RMAT_ELMT(*r, 1, 0)) <<
(INT32_QUAT_FRAC - INT32_TRIG_FRAC + INT32_QUAT_FRAC - 1))
/ two_qx;
q->qz = ((RMAT_ELMT(*r, 2, 0) + RMAT_ELMT(*r, 0, 2)) <<
(INT32_QUAT_FRAC - INT32_TRIG_FRAC + INT32_QUAT_FRAC - 1))
/ two_qx;
if (two_qx != 0) {
q->qi = ((RMAT_ELMT(*r, 1, 2) - RMAT_ELMT(*r, 2, 1)) <<
(INT32_QUAT_FRAC - INT32_TRIG_FRAC + INT32_QUAT_FRAC - 1))
/ two_qx;
q->qx = two_qx / 2;
q->qy = ((RMAT_ELMT(*r, 0, 1) + RMAT_ELMT(*r, 1, 0)) <<
(INT32_QUAT_FRAC - INT32_TRIG_FRAC + INT32_QUAT_FRAC - 1))
/ two_qx;
q->qz = ((RMAT_ELMT(*r, 2, 0) + RMAT_ELMT(*r, 0, 2)) <<
(INT32_QUAT_FRAC - INT32_TRIG_FRAC + INT32_QUAT_FRAC - 1))
/ two_qx;
}
} else if (RMAT_ELMT(*r, 1, 1) > RMAT_ELMT(*r, 2, 2)) {
const int32_t two_qy_two = RMAT_ELMT(*r, 1, 1) - RMAT_ELMT(*r, 0, 0)
- RMAT_ELMT(*r, 2, 2) + TRIG_BFP_OF_REAL(1.);
uint32_t two_qy = int32_sqrt(two_qy_two << INT32_TRIG_FRAC);
two_qy = two_qy << (INT32_QUAT_FRAC - INT32_TRIG_FRAC);
q->qi = ((RMAT_ELMT(*r, 2, 0) - RMAT_ELMT(*r, 0, 2)) <<
(INT32_QUAT_FRAC - INT32_TRIG_FRAC + INT32_QUAT_FRAC - 1))
/ two_qy;
q->qx = ((RMAT_ELMT(*r, 0, 1) + RMAT_ELMT(*r, 1, 0)) <<
(INT32_QUAT_FRAC - INT32_TRIG_FRAC + INT32_QUAT_FRAC - 1))
/ two_qy;
q->qy = two_qy / 2;
q->qz = ((RMAT_ELMT(*r, 1, 2) + RMAT_ELMT(*r, 2, 1)) <<
(INT32_QUAT_FRAC - INT32_TRIG_FRAC + INT32_QUAT_FRAC - 1))
/ two_qy;
if (two_qy != 0) {
q->qi = ((RMAT_ELMT(*r, 2, 0) - RMAT_ELMT(*r, 0, 2)) <<
(INT32_QUAT_FRAC - INT32_TRIG_FRAC + INT32_QUAT_FRAC - 1))
/ two_qy;
q->qx = ((RMAT_ELMT(*r, 0, 1) + RMAT_ELMT(*r, 1, 0)) <<
(INT32_QUAT_FRAC - INT32_TRIG_FRAC + INT32_QUAT_FRAC - 1))
/ two_qy;
q->qy = two_qy / 2;
q->qz = ((RMAT_ELMT(*r, 1, 2) + RMAT_ELMT(*r, 2, 1)) <<
(INT32_QUAT_FRAC - INT32_TRIG_FRAC + INT32_QUAT_FRAC - 1))
/ two_qy;
}
} else {
const int32_t two_qz_two = RMAT_ELMT(*r, 2, 2) - RMAT_ELMT(*r, 0, 0)
- RMAT_ELMT(*r, 1, 1) + TRIG_BFP_OF_REAL(1.);
uint32_t two_qz = int32_sqrt(two_qz_two << INT32_TRIG_FRAC);
two_qz = two_qz << (INT32_QUAT_FRAC - INT32_TRIG_FRAC);
q->qi = ((RMAT_ELMT(*r, 0, 1) - RMAT_ELMT(*r, 1, 0)) <<
(INT32_QUAT_FRAC - INT32_TRIG_FRAC + INT32_QUAT_FRAC - 1))
/ two_qz;
q->qx = ((RMAT_ELMT(*r, 2, 0) + RMAT_ELMT(*r, 0, 2)) <<
(INT32_QUAT_FRAC - INT32_TRIG_FRAC + INT32_QUAT_FRAC - 1))
/ two_qz;
q->qy = ((RMAT_ELMT(*r, 1, 2) + RMAT_ELMT(*r, 2, 1)) <<
(INT32_QUAT_FRAC - INT32_TRIG_FRAC + INT32_QUAT_FRAC - 1))
/ two_qz;
q->qz = two_qz / 2;
if (two_qz != 0) {
q->qi = ((RMAT_ELMT(*r, 0, 1) - RMAT_ELMT(*r, 1, 0)) <<
(INT32_QUAT_FRAC - INT32_TRIG_FRAC + INT32_QUAT_FRAC - 1))
/ two_qz;
q->qx = ((RMAT_ELMT(*r, 2, 0) + RMAT_ELMT(*r, 0, 2)) <<
(INT32_QUAT_FRAC - INT32_TRIG_FRAC + INT32_QUAT_FRAC - 1))
/ two_qz;
q->qy = ((RMAT_ELMT(*r, 1, 2) + RMAT_ELMT(*r, 2, 1)) <<
(INT32_QUAT_FRAC - INT32_TRIG_FRAC + INT32_QUAT_FRAC - 1))
/ two_qz;
q->qz = two_qz / 2;
}
}
}
}
sw/simulator/nps/nps_flightgear.c
+9 -2
View File
@@ -61,8 +61,15 @@ void nps_flightgear_init(const char *host, unsigned int port, unsigned int port
if (port_in > 0) {
struct sockaddr_in addr_in;
flightgear.socket_in = socket(PF_INET, SOCK_DGRAM, pte->p_proto);
setsockopt(flightgear.socket_in, SOL_SOCKET, SO_REUSEADDR,
&so_reuseaddr, sizeof(so_reuseaddr));
if (flightgear.socket_in < 0) {
perror("nps_flightgear_init socket()");
exit(errno);
}
if ( setsockopt(flightgear.socket_in, SOL_SOCKET, SO_REUSEADDR,
&so_reuseaddr, sizeof(so_reuseaddr)) == -1) {
perror("nps_flightgear_init setsockopt()");
exit(errno);
}
addr_in.sin_family = PF_INET;
addr_in.sin_port = htons(port_in);
addr_in.sin_addr.s_addr = htonl(INADDR_ANY);
sw/simulator/nps/nps_main.c
+2 -2
View File
@@ -369,7 +369,7 @@ static bool nps_main_parse_options(int argc, char **argv)
nps_main.host_time_factor = atof(optarg); break;
case 8:
nps_main.fg_fdm = 1; break;
case 9:
case 9:
nps_main.fg_port_in = atoi(optarg); break;
}
break;
@@ -383,7 +383,7 @@ static bool nps_main_parse_options(int argc, char **argv)
fprintf(stderr, usage, argv[0]);
exit(0);
default: /* $B!G(B?$B!G(B */
default:
printf("?? getopt returned character code 0%o ??\n", c);
fprintf(stderr, usage, argv[0]);
exit(EXIT_FAILURE);
sw/simulator/nps/nps_radio_control_spektrum.c
+4
View File
@@ -38,9 +38,13 @@ int nps_radio_control_spektrum_init(const char *device)
termios.c_iflag &= ~(IGNBRK | BRKINT | PARMRK | INPCK | ISTRIP | INLCR | IGNCR
| ICRNL | IUCLC | IXON | IXANY | IXOFF | IMAXBEL);
termios.c_iflag |= IGNPAR;
termios.c_cflag = 0; // properly initialize variable
/* control modes*/
termios.c_cflag &= ~(CSIZE | PARENB | CRTSCTS | PARODD | HUPCL);
termios.c_cflag |= CREAD | CS8 | CSTOPB | CLOCAL;
termios.c_lflag = 0; // properly initialize variable
/* local modes */
termios.c_lflag &= ~(ISIG | ICANON | IEXTEN | ECHO | FLUSHO | PENDIN);
termios.c_lflag |= NOFLSH;