mavros_extras: Fix dangling pointers and uninitialized memory with Eigen#2221
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klaxalk wants to merge 1 commit into
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mavros_extras: Fix dangling pointers and uninitialized memory with Eigen#2221klaxalk wants to merge 1 commit into
klaxalk wants to merge 1 commit into
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…n expressions Swapped `auto` for explicit `Eigen::VectorX` types in hil.cpp and mount_control.cpp to prevent expression templates from holding dangling pointers to temporary objects.
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While testing builds with GCC 15.2 (while adopting Nix which has new versions of underlying libraries and compilers), I noticed several
-Wdangling-pointerand-Wmaybe-uninitializedwarnings that were causing undefined behavior and silent memory corruption.The issue stems from using
autoto store the result of Eigen math formulas (e.g.,auto vec = Vector3d(...) * M_PI). Under the hood, this evaluates to an expression template rather than an actual vector. Since the original temporary vector gets destroyed immediately, the expression template ends up holding a dangling pointer.To fix this, I swapped the
autodeclarations for explicitEigen::Vector3dtypes inhil.cppandmount_control.cppto force immediate evaluation. I also zero-initialized a vector inlanding_target.cppto clear out an uninitialized memory warning.Tested locally and everything compiles cleanly now:
Summary: 415 tests, 0 errors, 0 failures, 100 skipped