Changeset 271 in flair-src

Timestamp:

Nov 8, 2018, 5:26:24 PM (6 years ago)

Author:

Sanahuja Guillaume

Message:

warn for all nan/inf torques/thrust

Location:

trunk/lib

Files:

• FlairMeta/src/UavStateMachine.cpp (modified) (1 diff)
• FlairSensorActuator/src/SimuCamera.cpp (modified) (1 diff)

trunk/lib/FlairMeta/src/UavStateMachine.cpp

@@ -180 +180 @@
 
     //check nan/inf problems
-    if(!IsValuePossible(currentTorques.roll,"roll torque")
-       || !IsValuePossible(currentTorques.pitch,"pitch torque")
-       || !IsValuePossible(currentTorques.yaw,"yaw torque")
-       || !IsValuePossible(currentThrust,"thrust")) {
+    bool isValuePossible=true;
+    //test it separately to warn for all problems
+    if(!IsValuePossible(currentTorques.roll,"roll torque")) isValuePossible=false;
+    if(!IsValuePossible(currentTorques.pitch,"pitch torque")) isValuePossible=false;
+    if(!IsValuePossible(currentTorques.yaw,"yaw torque")) isValuePossible=false;
+    if(!IsValuePossible(currentThrust,"thrust")) isValuePossible=false;
+    if(!isValuePossible) {
 
         if(altitudeState==AltitudeState_t::Stopped) {

trunk/lib/FlairSensorActuator/src/SimuCamera.cpp

@@ -88 +88 @@
     } else {
       output->ReleaseMutex();
-      Thread::Warn("Read Timeout\n");
+      //Thread::Warn("Read Timeout\n");
     }
   }