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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-05-06 14:57:06 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-05-06 14:57:06 +0200 |
| commit | 1d6b9fae037422f4c61bdd7ee1a5ea0803a59726 (patch) | |
| tree | de9eee67d075d1e5b04746e40d14dc16bebd09db /src/modules/mavlink | |
| parent | 13ad95169f1da852f0a641e270669f2f4f3c5ece (diff) | |
| download | px4-firmware-1d6b9fae037422f4c61bdd7ee1a5ea0803a59726.tar.gz px4-firmware-1d6b9fae037422f4c61bdd7ee1a5ea0803a59726.tar.bz2 px4-firmware-1d6b9fae037422f4c61bdd7ee1a5ea0803a59726.zip | |
Fix in-air restarts, protect against an external MAVLink sender exploiting the restart mechanism
Diffstat (limited to 'src/modules/mavlink')
| -rw-r--r-- | src/modules/mavlink/mavlink_receiver.cpp | 6 |
1 files changed, 6 insertions, 0 deletions
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp index 7c93c1c00..64fc41838 100644 --- a/src/modules/mavlink/mavlink_receiver.cpp +++ b/src/modules/mavlink/mavlink_receiver.cpp @@ -217,6 +217,12 @@ MavlinkReceiver::handle_message_command_long(mavlink_message_t *msg) _mavlink->_task_should_exit = true; } else { + + if (msg->sysid == mavlink_system.sysid && msg->compid == mavlink_system.compid) { + warnx("ignoring CMD spoofed with same SYS/COMP ID"); + return; + } + struct vehicle_command_s vcmd; memset(&vcmd, 0, sizeof(vcmd)); |