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ekf2: fix uninitalized memory warning
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The imu and sensor_combined data should not be used when it has not been
updated yet, otherwise this triggers a memory sanitizer warning:

Conditional jump or move depends on uninitialised value(s)
   at 0x2DA7AA: __sanitizer_cov_trace_const_cmp1 (in build/px4_sitl_default-clang/bin/px4)
   by 0x3C4E79: EKF2::Run() (src/modules/ekf2/EKF2.cpp:401)
   by 0x6EB881: px4::WorkQueue::Run() (platforms/common/px4_work_queue/WorkQueue.cpp:187)
   by 0x6ECB9D: px4::WorkQueueRunner(void*) (platforms/common/px4_work_queue/WorkQueueManager.cpp:230)
   by 0x4C07258: start_thread (in /usr/lib/libpthread-2.33.so)
   by 0x4D415E2: clone (in /usr/lib/libc-2.33.so)

Conditional jump or move depends on uninitialised value(s)
   at 0x3C4E7C: EKF2::Run() (src/modules/ekf2/EKF2.cpp:401)
   by 0x6EB881: px4::WorkQueue::Run() (platforms/common/px4_work_queue/WorkQueue.cpp:187)
   by 0x6ECB9D: px4::WorkQueueRunner(void*) (platforms/common/px4_work_queue/WorkQueueManager.cpp:230)
   by 0x4C07258: start_thread (in /usr/lib/libpthread-2.33.so)
   by 0x4D415E2: clone (in /usr/lib/libc-2.33.so)
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@julianoes
julianoes committed Dec 21, 2021
1 parent 2859e45 commit 80042ac
Showing 1 changed file with 56 additions and 52 deletions.
108 changes: 56 additions & 52 deletions src/modules/ekf2/EKF2.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -325,61 +325,63 @@ void EKF2::Run()
perf_count(_msg_missed_imu_perf);
}

imu_sample_new.time_us = imu.timestamp_sample;
imu_sample_new.delta_ang_dt = imu.delta_angle_dt * 1.e-6f;
imu_sample_new.delta_ang = Vector3f{imu.delta_angle};
imu_sample_new.delta_vel_dt = imu.delta_velocity_dt * 1.e-6f;
imu_sample_new.delta_vel = Vector3f{imu.delta_velocity};

if (imu.delta_velocity_clipping > 0) {
imu_sample_new.delta_vel_clipping[0] = imu.delta_velocity_clipping & vehicle_imu_s::CLIPPING_X;
imu_sample_new.delta_vel_clipping[1] = imu.delta_velocity_clipping & vehicle_imu_s::CLIPPING_Y;
imu_sample_new.delta_vel_clipping[2] = imu.delta_velocity_clipping & vehicle_imu_s::CLIPPING_Z;
}
if (imu_updated) {
imu_sample_new.time_us = imu.timestamp_sample;
imu_sample_new.delta_ang_dt = imu.delta_angle_dt * 1.e-6f;
imu_sample_new.delta_ang = Vector3f{imu.delta_angle};
imu_sample_new.delta_vel_dt = imu.delta_velocity_dt * 1.e-6f;
imu_sample_new.delta_vel = Vector3f{imu.delta_velocity};

if (imu.delta_velocity_clipping > 0) {
imu_sample_new.delta_vel_clipping[0] = imu.delta_velocity_clipping & vehicle_imu_s::CLIPPING_X;
imu_sample_new.delta_vel_clipping[1] = imu.delta_velocity_clipping & vehicle_imu_s::CLIPPING_Y;
imu_sample_new.delta_vel_clipping[2] = imu.delta_velocity_clipping & vehicle_imu_s::CLIPPING_Z;
}

imu_dt = imu.delta_angle_dt;
imu_dt = imu.delta_angle_dt;

if ((_device_id_accel == 0) || (_device_id_gyro == 0)) {
_device_id_accel = imu.accel_device_id;
_device_id_gyro = imu.gyro_device_id;
_accel_calibration_count = imu.accel_calibration_count;
_gyro_calibration_count = imu.gyro_calibration_count;
if ((_device_id_accel == 0) || (_device_id_gyro == 0)) {
_device_id_accel = imu.accel_device_id;
_device_id_gyro = imu.gyro_device_id;
_accel_calibration_count = imu.accel_calibration_count;
_gyro_calibration_count = imu.gyro_calibration_count;

} else {
bool reset_actioned = false;
} else {
bool reset_actioned = false;

if ((imu.accel_calibration_count != _accel_calibration_count)
|| (imu.accel_device_id != _device_id_accel)) {
if ((imu.accel_calibration_count != _accel_calibration_count)
|| (imu.accel_device_id != _device_id_accel)) {

PX4_DEBUG("%d - resetting accelerometer bias", _instance);
_device_id_accel = imu.accel_device_id;
PX4_DEBUG("%d - resetting accelerometer bias", _instance);
_device_id_accel = imu.accel_device_id;

_ekf.resetAccelBias();
_accel_calibration_count = imu.accel_calibration_count;
_ekf.resetAccelBias();
_accel_calibration_count = imu.accel_calibration_count;

// reset bias learning
_accel_cal = {};
// reset bias learning
_accel_cal = {};

reset_actioned = true;
}
reset_actioned = true;
}

if ((imu.gyro_calibration_count != _gyro_calibration_count)
|| (imu.gyro_device_id != _device_id_gyro)) {
if ((imu.gyro_calibration_count != _gyro_calibration_count)
|| (imu.gyro_device_id != _device_id_gyro)) {

PX4_DEBUG("%d - resetting rate gyro bias", _instance);
_device_id_gyro = imu.gyro_device_id;
PX4_DEBUG("%d - resetting rate gyro bias", _instance);
_device_id_gyro = imu.gyro_device_id;

_ekf.resetGyroBias();
_gyro_calibration_count = imu.gyro_calibration_count;
_ekf.resetGyroBias();
_gyro_calibration_count = imu.gyro_calibration_count;

// reset bias learning
_gyro_cal = {};
// reset bias learning
_gyro_cal = {};

reset_actioned = true;
}
reset_actioned = true;
}

if (reset_actioned) {
SelectImuStatus();
if (reset_actioned) {
SelectImuStatus();
}
}
}

Expand All @@ -392,20 +394,22 @@ void EKF2::Run()
perf_count(_msg_missed_imu_perf);
}

imu_sample_new.time_us = sensor_combined.timestamp;
imu_sample_new.delta_ang_dt = sensor_combined.gyro_integral_dt * 1.e-6f;
imu_sample_new.delta_ang = Vector3f{sensor_combined.gyro_rad} * imu_sample_new.delta_ang_dt;
imu_sample_new.delta_vel_dt = sensor_combined.accelerometer_integral_dt * 1.e-6f;
imu_sample_new.delta_vel = Vector3f{sensor_combined.accelerometer_m_s2} * imu_sample_new.delta_vel_dt;
if (imu_updated) {
imu_sample_new.time_us = sensor_combined.timestamp;
imu_sample_new.delta_ang_dt = sensor_combined.gyro_integral_dt * 1.e-6f;
imu_sample_new.delta_ang = Vector3f{sensor_combined.gyro_rad} * imu_sample_new.delta_ang_dt;
imu_sample_new.delta_vel_dt = sensor_combined.accelerometer_integral_dt * 1.e-6f;
imu_sample_new.delta_vel = Vector3f{sensor_combined.accelerometer_m_s2} * imu_sample_new.delta_vel_dt;

if (sensor_combined.accelerometer_clipping > 0) {
imu_sample_new.delta_vel_clipping[0] = sensor_combined.accelerometer_clipping & sensor_combined_s::CLIPPING_X;
imu_sample_new.delta_vel_clipping[1] = sensor_combined.accelerometer_clipping & sensor_combined_s::CLIPPING_Y;
imu_sample_new.delta_vel_clipping[2] = sensor_combined.accelerometer_clipping & sensor_combined_s::CLIPPING_Z;
}

if (sensor_combined.accelerometer_clipping > 0) {
imu_sample_new.delta_vel_clipping[0] = sensor_combined.accelerometer_clipping & sensor_combined_s::CLIPPING_X;
imu_sample_new.delta_vel_clipping[1] = sensor_combined.accelerometer_clipping & sensor_combined_s::CLIPPING_Y;
imu_sample_new.delta_vel_clipping[2] = sensor_combined.accelerometer_clipping & sensor_combined_s::CLIPPING_Z;
imu_dt = sensor_combined.gyro_integral_dt;
}

imu_dt = sensor_combined.gyro_integral_dt;

if (_sensor_selection_sub.updated() || (_device_id_accel == 0 || _device_id_gyro == 0)) {
sensor_selection_s sensor_selection;

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