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simple_offboard: ensure all the arguments are finite

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This commit is contained in:
Oleg Kalachev
2019-07-23 22:07:28 +03:00
parent b3e2158250
commit 2e4b1e2637
1 changed files with 16 additions and 0 deletions
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16
clever/src/simple_offboard.cpp
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@@ -483,6 +483,8 @@ inline void checkState()
throw std::runtime_error("No connection to FCU, https://clever.copterexpress.com/connection.html");
}
#define ENSURE_FINITE(var) { if (!std::isfinite(var)) throw std::runtime_error(#var " argument cannot be NaN or Inf"); }
bool serve(enum setpoint_type_t sp_type, float x, float y, float z, float vx, float vy, float vz,
float pitch, float roll, float yaw, float pitch_rate, float roll_rate, float yaw_rate,
float lat, float lon, float thrust, float speed, string frame_id, bool auto_arm,
@@ -494,6 +496,20 @@ bool serve(enum setpoint_type_t sp_type, float x, float y, float z, float vx, fl
if (busy)
throw std::runtime_error("Busy");
ENSURE_FINITE(x);
ENSURE_FINITE(y);
ENSURE_FINITE(z);
ENSURE_FINITE(vx);
ENSURE_FINITE(vy);
ENSURE_FINITE(vz);
ENSURE_FINITE(pitch);
ENSURE_FINITE(roll);
ENSURE_FINITE(pitch_rate);
ENSURE_FINITE(roll_rate);
ENSURE_FINITE(lat);
ENSURE_FINITE(lon);
ENSURE_FINITE(thrust);
busy = true;
// Checks