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LandDetector: fix vehicle flight time

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The problem was signed vs unsigned mixing together with 64bit conversion:
int32_t flight_time = ...;
uint64_t _total_flight_time = ...;
_total_flight_time |= flight_time;
When flight_time is negative, the last line would first extend the sign
bit to the upper 32bits of the 64bit uint and then apply the bitwise OR.
The fix is to use an unsigned 32 bit value.
This commit is contained in:
Beat Küng
2017-07-04 10:57:32 +02:00
parent f54a6c2999
commit 1e2ce51c6d
1 changed files with 2 additions and 2 deletions
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4
src/modules/land_detector/LandDetector.cpp
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@@ -148,7 +148,7 @@ void LandDetector::_cycle()
// We landed
_total_flight_time += now - _takeoff_time;
_takeoff_time = 0;
int32_t flight_time = (_total_flight_time >> 32) & 0xffffffff;
uint32_t flight_time = (_total_flight_time >> 32) & 0xffffffff;
param_set_no_notification(_p_total_flight_time_high, &flight_time);
flight_time = _total_flight_time & 0xffffffff;
param_set_no_notification(_p_total_flight_time_low, &flight_time);
@@ -188,7 +188,7 @@ void LandDetector::_check_params(const bool force)
if (updated || force) {
_update_params();
int32_t flight_time;
uint32_t flight_time;
param_get(_p_total_flight_time_high, &flight_time);
_total_flight_time = ((uint64_t)flight_time) << 32;
param_get(_p_total_flight_time_low, &flight_time);