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Merge pull request #24 from cyoung/ahrs_dev 

Fix nil pointer dereference crash.
pull/592/head
Eric Westphal 2017-03-30 08:12:33 -04:00 zatwierdzone przez GitHub
rodzic 9e101b4cf5 a11b0b9be4
commit c12aa3e728
4 zmienionych plików z 38 dodań i 38 usunięć
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4
main/gen_gdl90.go
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@ -39,8 +39,8 @@ import (
// https://www.faa.gov/nextgen/programs/adsb/Archival/
// https://www.faa.gov/nextgen/programs/adsb/Archival/media/GDL90_Public_ICD_RevA.PDF
var logDirf string // Directory for all logging
var debugLogf string // Set according to OS config.
var logDirf string // Directory for all logging
var debugLogf string // Set according to OS config.
var dataLogFilef string // Set according to OS config.
const (

10
main/managementinterface.go
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@ -276,13 +276,13 @@ func handleSettingsSetRequest(w http.ResponseWriter, r *http.Request) {
globalSettings.GPS_Enabled = val.(bool)
case "IMU_Sensor_Enabled":
globalSettings.IMU_Sensor_Enabled = val.(bool)
if !globalSettings.IMU_Sensor_Enabled {
if !globalSettings.IMU_Sensor_Enabled && globalStatus.IMUConnected {
myIMUReader.Close()
globalStatus.IMUConnected = false
}
case "BMP_Sensor_Enabled":
globalSettings.BMP_Sensor_Enabled = val.(bool)
if !globalSettings.BMP_Sensor_Enabled {
if !globalSettings.BMP_Sensor_Enabled && globalStatus.BMPConnected {
myPressureReader.Close()
globalStatus.BMPConnected = false
}
@ -397,8 +397,8 @@ func handleOrientAHRS(w http.ResponseWriter, r *http.Request) {
if r.Method == "POST" {
var (
action []byte = make([]byte, 1)
u int
err error
u int
err error
)
if _, err = r.Body.Read(action); err != nil {
@ -422,7 +422,7 @@ func handleOrientAHRS(w http.ResponseWriter, r *http.Request) {
}
log.Printf("AHRS Info: sensor orientation: received up direction %d\n", u)
if f==u || f==-u {
if f == u || f == -u {
log.Println("AHRS Error: sensor orientation: up and forward axes cannot be the same")
http.Error(w, "up and forward axes cannot be the same", http.StatusBadRequest)
return

2
main/network.go
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@ -66,7 +66,7 @@ var netMutex *sync.RWMutex
var totalNetworkMessagesSent uint32
var pingResponse map[string]time.Time // Last time an IP responded to an "echo" response.
var pingResponseMutex *sync.RWMutex // For versions of Go after 1.6 we need to protect this map from concurrent reads & writes
var pingResponseMutex *sync.RWMutex // For versions of Go after 1.6 we need to protect this map from concurrent reads & writes
const (
NETWORK_GDL90_STANDARD = 1

60
main/sensors.go
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@ -21,7 +21,7 @@ var (
i2cbus embd.I2CBus
myPressureReader sensors.PressureReader
myIMUReader sensors.IMUReader
cage chan(bool)
cage chan (bool)
analysisLogger *ahrs.AHRSLogger
ahrsCalibrating bool
)
@ -157,19 +157,19 @@ func initIMU() (ok bool) {
func sensorAttitudeSender() {
var (
roll, pitch, heading float64
t time.Time
s ahrs.AHRSProvider
m *ahrs.Measurement
a1, a2, a3, b1, b2, b3, m1, m2, m3 float64 // IMU measurements
ff *[3][3]float64 // Sensor orientation matrix
mpuError, magError error
failnum uint8
roll, pitch, heading float64
t time.Time
s ahrs.AHRSProvider
m *ahrs.Measurement
a1, a2, a3, b1, b2, b3, m1, m2, m3 float64 // IMU measurements
ff *[3][3]float64 // Sensor orientation matrix
mpuError, magError error
failnum uint8
)
log.Println("AHRS Info: initializing new simple AHRS")
s = ahrs.InitializeSimple()
m = ahrs.NewMeasurement()
cage = make(chan(bool))
cage = make(chan (bool))
// Set up loggers for analysis
ahrswebListener, err := ahrsweb.NewKalmanListener()
@ -182,7 +182,7 @@ func sensorAttitudeSender() {
// Need a sampling freq faster than 10Hz
timer := time.NewTicker(50 * time.Millisecond) // ~20Hz update.
for {
if globalSettings.IMUMapping[0]==0 { // if unset, default to RY836AI
if globalSettings.IMUMapping[0] == 0 { // if unset, default to RY836AI
globalSettings.IMUMapping[0] = -1 // +2
globalSettings.IMUMapping[1] = -3 // +3
saveSettings()
@ -192,18 +192,18 @@ func sensorAttitudeSender() {
// Set up orientation matrix; a bit ugly for now
ff = new([3][3]float64)
if f[0] < 0 {
ff[0][-f[0] - 1] = -1
ff[0][-f[0]-1] = -1
} else {
ff[0][+f[0] - 1] = +1
ff[0][+f[0]-1] = +1
}
if f[1] < 0 {
ff[2][-f[1] - 1] = -1
ff[2][-f[1]-1] = -1
} else {
ff[2][+f[1] - 1] = +1
ff[2][+f[1]-1] = +1
}
ff[1][0] = ff[2][1] * ff[0][2] - ff[2][2] * ff[0][1]
ff[1][1] = ff[2][2] * ff[0][0] - ff[2][0] * ff[0][2]
ff[1][2] = ff[2][0] * ff[0][1] - ff[2][1] * ff[0][0]
ff[1][0] = ff[2][1]*ff[0][2] - ff[2][2]*ff[0][1]
ff[1][1] = ff[2][2]*ff[0][0] - ff[2][0]*ff[0][2]
ff[1][2] = ff[2][0]*ff[0][1] - ff[2][1]*ff[0][0]
failnum = 0
<-timer.C
@ -223,7 +223,7 @@ func sensorAttitudeSender() {
}
t = stratuxClock.Time
m.T = float64(t.UnixNano() / 1000) / 1e6
m.T = float64(t.UnixNano()/1000) / 1e6
_, b1, b2, b3, a1, a2, a3, m1, m2, m3, mpuError, magError = myIMUReader.Read()
// This is how the RY83XAI is wired up
@ -237,12 +237,12 @@ func sensorAttitudeSender() {
m.A1 = -(ff[0][0]*a1 + ff[0][1]*a2 + ff[0][2]*a3)
m.A2 = -(ff[1][0]*a1 + ff[1][1]*a2 + ff[1][2]*a3)
m.A3 = -(ff[2][0]*a1 + ff[2][1]*a2 + ff[2][2]*a3)
m.B1 = ff[0][0]*b1 + ff[0][1]*b2 + ff[0][2]*b3
m.B2 = ff[1][0]*b1 + ff[1][1]*b2 + ff[1][2]*b3
m.B3 = ff[2][0]*b1 + ff[2][1]*b2 + ff[2][2]*b3
m.M1 = ff[0][0]*m1 + ff[0][1]*m2 + ff[0][2]*m3
m.M2 = ff[1][0]*m1 + ff[1][1]*m2 + ff[1][2]*m3
m.M3 = ff[2][0]*m1 + ff[2][1]*m2 + ff[2][2]*m3
m.B1 = ff[0][0]*b1 + ff[0][1]*b2 + ff[0][2]*b3
m.B2 = ff[1][0]*b1 + ff[1][1]*b2 + ff[1][2]*b3
m.B3 = ff[2][0]*b1 + ff[2][1]*b2 + ff[2][2]*b3
m.M1 = ff[0][0]*m1 + ff[0][1]*m2 + ff[0][2]*m3
m.M2 = ff[1][0]*m1 + ff[1][1]*m2 + ff[1][2]*m3
m.M3 = ff[2][0]*m1 + ff[2][1]*m2 + ff[2][2]*m3
m.SValid = mpuError == nil
m.MValid = magError == nil
if mpuError != nil {
@ -263,11 +263,11 @@ func sensorAttitudeSender() {
// Don't necessarily disconnect here, unless AHRSProvider deeply depends on magnetometer
}
m.TW = float64(mySituation.LastGroundTrackTime.UnixNano() / 1000) / 1e6
m.TW = float64(mySituation.LastGroundTrackTime.UnixNano()/1000) / 1e6
m.WValid = t.Sub(mySituation.LastGroundTrackTime) < 3000*time.Millisecond
if m.WValid {
m.W1 = mySituation.GroundSpeed * math.Sin(float64(mySituation.TrueCourse) * ahrs.Deg)
m.W2 = mySituation.GroundSpeed * math.Cos(float64(mySituation.TrueCourse) * ahrs.Deg)
m.W1 = mySituation.GroundSpeed * math.Sin(float64(mySituation.TrueCourse)*ahrs.Deg)
m.W2 = mySituation.GroundSpeed * math.Cos(float64(mySituation.TrueCourse)*ahrs.Deg)
if globalSettings.BMP_Sensor_Enabled && globalStatus.BMPConnected {
m.W3 = mySituation.RateOfClimb * 60 / 6076.12
} else {
@ -311,7 +311,7 @@ func sensorAttitudeSender() {
}
// Log it to csv for analysis
if globalSettings.AHRSLog && usage.Usage() < 0.95 {
if globalSettings.AHRSLog && usage.Usage() < 0.95 {
if analysisLogger == nil {
analysisFilename := filepath.Join(logDirf, fmt.Sprintf("sensors_%s.csv",
time.Now().Format("20060102_150405")))
@ -362,7 +362,7 @@ func getMinAccelDirection() (i int, err error) {
// CageAHRS sends a signal to the AHRSProvider that it should be reset.
func CageAHRS() {
cage<- true
cage <- true
}
func updateAHRSStatus() {