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commander: fix arming auth param translation

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The int32 param COM_ARM_AUTH is mapped to a packed struct. However, this
struct was not actually packed (anymore) and therefore the values were
applied incorrectly.

I fixed this by applying the packed attribute. By using a union with a
int32_t I could rid of the warning about address-of-packed-member.
This commit is contained in:
Julian Oes
2019-08-14 15:00:52 +02:00
committed by Daniel Agar
parent b7f0db62ba
commit a4fb18a6c4
2 changed files with 17 additions and 15 deletions
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1
src/modules/commander/CMakeLists.txt
View File

@@ -39,7 +39,6 @@ px4_add_module(
STACK_MAIN 4096
STACK_MAX 2450
COMPILE_FLAGS
-Wno-cast-align # TODO: fix and enable
SRCS
accelerometer_calibration.cpp
airspeed_calibration.cpp

31
src/modules/commander/arm_auth.cpp
View File

@@ -57,13 +57,16 @@ static enum {
ARM_AUTH_MISSION_APPROVED
} state = ARM_AUTH_IDLE;
struct packed_struct {
uint8_t authorizer_system_id;
union {
uint16_t auth_method_arm_timeout_msec;
uint16_t auth_method_two_arm_timeout_msec;
} auth_method_param;
uint8_t authentication_method;
union {
struct {
uint8_t authorizer_system_id;
union {
uint16_t auth_method_arm_timeout_msec;
uint16_t auth_method_two_arm_timeout_msec;
} auth_method_param;
uint8_t authentication_method;
} __attribute__((packed)) struct_value;
int32_t param_value;
} arm_parameters;
static uint8_t *system_id;
@@ -81,7 +84,7 @@ static void arm_auth_request_msg_send()
vehicle_command_s vcmd{};
vcmd.timestamp = hrt_absolute_time();
vcmd.command = vehicle_command_s::VEHICLE_CMD_ARM_AUTHORIZATION_REQUEST;
vcmd.target_system = arm_parameters.authorizer_system_id;
vcmd.target_system = arm_parameters.struct_value.authorizer_system_id;
uORB::PublicationQueued<vehicle_command_s> vcmd_pub{ORB_ID(vehicle_command)};
vcmd_pub.publish(vcmd);
@@ -105,7 +108,7 @@ static uint8_t _auth_method_arm_req_check()
arm_auth_request_msg_send();
hrt_abstime now = hrt_absolute_time();
auth_timeout = now + (arm_parameters.auth_method_param.auth_method_arm_timeout_msec * 1000);
auth_timeout = now + (arm_parameters.struct_value.auth_method_param.auth_method_arm_timeout_msec * 1000);
state = ARM_AUTH_WAITING_AUTH;
while (now < auth_timeout) {
@@ -157,7 +160,7 @@ static uint8_t _auth_method_two_arm_check()
arm_auth_request_msg_send();
hrt_abstime now = hrt_absolute_time();
auth_timeout = now + (arm_parameters.auth_method_param.auth_method_arm_timeout_msec * 1000);
auth_timeout = now + (arm_parameters.struct_value.auth_method_param.auth_method_arm_timeout_msec * 1000);
state = ARM_AUTH_WAITING_AUTH;
mavlink_log_critical(mavlink_log_pub, "Arm auth: Requesting authorization...");
@@ -167,8 +170,8 @@ static uint8_t _auth_method_two_arm_check()
uint8_t arm_auth_check()
{
if (arm_parameters.authentication_method < ARM_AUTH_METHOD_LAST) {
return arm_check_method[arm_parameters.authentication_method]();
if (arm_parameters.struct_value.authentication_method < ARM_AUTH_METHOD_LAST) {
return arm_check_method[arm_parameters.struct_value.authentication_method]();
}
return vehicle_command_ack_s::VEHICLE_RESULT_DENIED;
@@ -177,7 +180,7 @@ uint8_t arm_auth_check()
void arm_auth_update(hrt_abstime now, bool param_update)
{
if (param_update) {
param_get(param_arm_parameters, (int32_t *)&arm_parameters);
param_get(param_arm_parameters, &arm_parameters.param_value);
}
switch (state) {
@@ -280,5 +283,5 @@ void arm_auth_init(orb_advert_t *mav_log_pub, uint8_t *sys_id)
enum arm_auth_methods arm_auth_method_get()
{
return (enum arm_auth_methods) arm_parameters.authentication_method;
return (enum arm_auth_methods) arm_parameters.struct_value.authentication_method;
}