From 97e7250e8c468dbd5bdf75fbb6b61e03a397b472 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Nicol=C3=B2=20Caruso?= <nicolo.caruso@skywarder.eu>
Date: Thu, 5 Jun 2025 21:00:44 +0200
Subject: [PATCH] [ARP] Fixed Follower missing mutex for set gain
- Fix: For the set gain function missing mutex lock.
Also moved yaw and pitch angle computation to mutex-protected
area
---
src/shared/algorithms/Follower/Follower.cpp | 14 ++++++++------
1 file changed, 8 insertions(+), 6 deletions(-)
diff --git a/src/shared/algorithms/Follower/Follower.cpp b/src/shared/algorithms/Follower/Follower.cpp
index d4551e5bc..e7a8d4e74 100644
--- a/src/shared/algorithms/Follower/Follower.cpp
+++ b/src/shared/algorithms/Follower/Follower.cpp
@@ -117,6 +117,8 @@ AntennaAngles Follower::getTargetAngles()
bool Follower::setMaxGain(float yawGainNew, float pitchGainNew)
{
+ Lock<FastMutex> lock(followerMutex);
+
// In case of negative or over the limit values, do not set the gains
if (yawGainNew < 0 || yawGainNew > YAW_GAIN_LIMIT || pitchGainNew < 0 ||
pitchGainNew > PITCH_GAIN_LIMIT)
@@ -170,13 +172,13 @@ void Follower::step()
// Calculate the amount to move from the current position
diffAngles = {targetAngles.timestamp, targetAngles.yaw - vn300.yaw,
targetAngles.pitch - vn300.pitch};
- }
- // Rotate in the shortest direction
- diffAngles.yaw =
- std::min(yawGain, YAW_GAIN_LIMIT) * minimizeRotation(diffAngles.yaw);
- diffAngles.pitch = std::min(pitchGain, PITCH_GAIN_LIMIT) *
- minimizeRotation(diffAngles.pitch);
+ // Rotate in the shortest direction
+ diffAngles.yaw = std::min(yawGain, YAW_GAIN_LIMIT) *
+ minimizeRotation(diffAngles.yaw);
+ diffAngles.pitch = std::min(pitchGain, PITCH_GAIN_LIMIT) *
+ minimizeRotation(diffAngles.pitch);
+ }
// Calculate angular velocity for moving the antennas toward position
float horizontalSpeed =
--
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