Mirror/inav
1
0
Fork 0
mirror of https://github.com/iNavFlight/inav.git synced 2025-07-24 00:35:34 +03:00
Code Issues Wiki Activity

fixed gpsSol access race conditions

Browse source
This commit is contained in:
Roman Lut 2023-05-19 18:15:09 +02:00
parent 46150ad52d
commit 4d888e438b
8 changed files with 207 additions and 183 deletions
Download patch file Download diff file Expand all files Collapse all files

39
src/main/fc/fc_msp.c
View file

@ -3513,35 +3513,36 @@ bool mspFCProcessInOutCommand(uint16_t cmdMSP, sbuf_t *dst, sbuf_t *src, mspResu
if (dataSize >= 14) {
if (feature(FEATURE_GPS) && SIMULATOR_HAS_OPTION(HITL_HAS_NEW_GPS_DATA)) {
gpsSol.fixType = sbufReadU8(src);
gpsSol.hdop = gpsSol.fixType == GPS_NO_FIX ? 9999 : 100;
gpsSol.flags.hasNewData = true;
gpsSol.numSat = sbufReadU8(src);
gpsSolDRV.fixType = sbufReadU8(src);
gpsSolDRV.hdop = gpsSolDRV.fixType == GPS_NO_FIX ? 9999 : 100;
gpsSolDRV.flags.hasNewData = true;
gpsSolDRV.numSat = sbufReadU8(src);
if (gpsSol.fixType != GPS_NO_FIX) {
gpsSol.flags.validVelNE = true;
gpsSol.flags.validVelD = true;
gpsSol.flags.validEPE = true;
gpsSol.flags.validTime = false;
if (gpsSolDRV.fixType != GPS_NO_FIX) {
gpsSolDRV.flags.validVelNE = true;
gpsSolDRV.flags.validVelD = true;
gpsSolDRV.flags.validEPE = true;
gpsSolDRV.flags.validTime = false;
gpsSol.llh.lat = sbufReadU32(src);
gpsSol.llh.lon = sbufReadU32(src);
gpsSol.llh.alt = sbufReadU32(src);
gpsSol.groundSpeed = (int16_t)sbufReadU16(src);
gpsSol.groundCourse = (int16_t)sbufReadU16(src);
gpsSolDRV.llh.lat = sbufReadU32(src);
gpsSolDRV.llh.lon = sbufReadU32(src);
gpsSolDRV.llh.alt = sbufReadU32(src);
gpsSolDRV.groundSpeed = (int16_t)sbufReadU16(src);
gpsSolDRV.groundCourse = (int16_t)sbufReadU16(src);
gpsSol.velNED[X] = (int16_t)sbufReadU16(src);
gpsSol.velNED[Y] = (int16_t)sbufReadU16(src);
gpsSol.velNED[Z] = (int16_t)sbufReadU16(src);
gpsSolDRV.velNED[X] = (int16_t)sbufReadU16(src);
gpsSolDRV.velNED[Y] = (int16_t)sbufReadU16(src);
gpsSolDRV.velNED[Z] = (int16_t)sbufReadU16(src);
gpsSol.eph = 100;
gpsSol.epv = 100;
gpsSolDRV.eph = 100;
gpsSolDRV.epv = 100;
ENABLE_STATE(GPS_FIX);
} else {
sbufAdvance(src, sizeof(uint32_t) + sizeof(uint32_t) + sizeof(uint32_t) + sizeof(uint16_t) + sizeof(uint16_t) + sizeof(uint16_t) * 3);
}
// Feed data to navigation
gpsProcessNewDriverData();
gpsProcessNewSolutionData();
} else {
sbufAdvance(src, sizeof(uint8_t) + sizeof(uint8_t) + sizeof(uint32_t) + sizeof(uint32_t) + sizeof(uint32_t) + sizeof(uint16_t) + sizeof(uint16_t) + sizeof(uint16_t) * 3);