SITL: avoid floating point exception around rangefinder distance #28368
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projecting onto an infinite plane can cause exceptionally long rangefinder distances - for now jsut cap the distance that the simulated rangefinder can return to avoid floating point exceptions. the FPE is caused in the Plane FlyEachFrame autotest when flying quadplane-copter_tailsitter - which ends up with a rangefinder at yaw-minus-180.
muramura
reviewed
Oct 10, 2024
| @@ -1058,6 +1067,9 @@ void Aircraft::update_external_payload(const struct sitl_input &input) | |||
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| { | |||
| const float range = rangefinder_range(); | |||
| if (!isinf(range) && range > 100000) { | |||
| AP_HAL::panic("Bad rangefinder calculation"); | |||
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What happens if a PANIC occurs during flight?
I think it's unacceptable if it becomes uncontrollable.
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that is SITL, panic will just block the simulation to allow to catch the bug
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projecting onto an infinite plane can cause exceptionally long rangefinder distances - for now jsut cap the distance that the simulated rangefinder can return to avoid floating point exceptions.
the FPE is caused in the Plane FlyEachFrame autotest when flying quadplane-copter_tailsitter - which ends up with a rangefinder at yaw-minus-180.
This is the FPE:
