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Prevent overflow of dt in Integrator class #24202

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merged 3 commits into from
Jan 21, 2025
Merged

Prevent overflow of dt in Integrator class #24202

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24d292a
Integrator: use 32bit integer to store dt to avoid overflow
RomanBapst Jan 9, 2025
632ba82
VehicleImu: use 32 bit integer for dt
RomanBapst Jan 9, 2025
ea780a7
VehicleOpticalFlow: use 32bit integer for dt
RomanBapst Jan 13, 2025
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4 changes: 2 additions & 2 deletions msg/VehicleImu.msg
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Original file line number Diff line number Diff line change
Expand Up @@ -9,8 +9,8 @@ uint32 gyro_device_id # Gyroscope unique device ID for the sensor that
float32[3] delta_angle # delta angle about the FRD body frame XYZ-axis in rad over the integration time frame (delta_angle_dt)
float32[3] delta_velocity # delta velocity in the FRD body frame XYZ-axis in m/s over the integration time frame (delta_velocity_dt)

uint16 delta_angle_dt # integration period in microseconds
uint16 delta_velocity_dt # integration period in microseconds
uint32 delta_angle_dt # integration period in microseconds
uint32 delta_velocity_dt # integration period in microseconds

uint8 CLIPPING_X = 1
uint8 CLIPPING_Y = 2
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6 changes: 3 additions & 3 deletions src/modules/sensors/Integrator.hpp
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Expand Up @@ -55,7 +55,7 @@ class Integrator
~Integrator() = default;

static constexpr float DT_MIN{1e-6f}; // 1 microsecond
static constexpr float DT_MAX{static_cast<float>(UINT16_MAX) * 1e-6f};
static constexpr float DT_MAX{static_cast<float>(UINT32_MAX) * 1e-6f};

/**
* Put an item into the integral.
Expand Down Expand Up @@ -111,7 +111,7 @@ class Integrator
* @param integral_dt Get the dt in us of the current integration.
* @return true if integral valid
*/
bool reset(matrix::Vector3f &integral, uint16_t &integral_dt)
bool reset(matrix::Vector3f &integral, uint32_t &integral_dt)
{
if (integral_ready()) {
integral = _alpha;
Expand Down Expand Up @@ -200,7 +200,7 @@ class IntegratorConing : public Integrator
* @param integral_dt Get the dt in us of the current integration.
* @return true if integral valid
*/
bool reset(matrix::Vector3f &integral, uint16_t &integral_dt)
bool reset(matrix::Vector3f &integral, uint32_t &integral_dt)
{
if (Integrator::reset(integral, integral_dt)) {
// apply coning corrections
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2 changes: 1 addition & 1 deletion src/modules/sensors/vehicle_optical_flow/VehicleOpticalFlow.cpp
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Expand Up @@ -161,7 +161,7 @@ void VehicleOpticalFlow::Run()
}

Vector3f delta_angle{NAN, NAN, NAN};
uint16_t delta_angle_dt;
uint32_t delta_angle_dt;

if (_gyro_integrator.reset(delta_angle, delta_angle_dt)) {
_delta_angle += delta_angle;
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