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| author | Thomas Gubler <thomasgubler@gmail.com> | 2015-01-21 14:41:03 +0100 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2015-01-21 14:41:03 +0100 |
| commit | dcdde8ea88bf57b0432d2b64ed3ce606795c8d00 (patch) | |
| tree | 0bf6e997ffe7f7a9cda98c832dbce39601a9242f /src/modules/px4iofirmware/controls.c | |
| parent | 3a38b0fe359296aa19ec43ab82743aebeadb335c (diff) | |
| parent | e8e4a3b5da058bd2ab8575c095dd74a5484333be (diff) | |
| download | px4-firmware-dcdde8ea88bf57b0432d2b64ed3ce606795c8d00.tar.gz px4-firmware-dcdde8ea88bf57b0432d2b64ed3ce606795c8d00.tar.bz2 px4-firmware-dcdde8ea88bf57b0432d2b64ed3ce606795c8d00.zip | |
Merge remote-tracking branch 'upstream/master' into ros_messagelayer_merge
Conflicts:
src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
src/modules/uORB/topics/vehicle_attitude.h
Diffstat (limited to 'src/modules/px4iofirmware/controls.c')
| -rw-r--r-- | src/modules/px4iofirmware/controls.c | 9 |
1 files changed, 6 insertions, 3 deletions
diff --git a/src/modules/px4iofirmware/controls.c b/src/modules/px4iofirmware/controls.c index 58c9429b6..d20f776d6 100644 --- a/src/modules/px4iofirmware/controls.c +++ b/src/modules/px4iofirmware/controls.c @@ -454,6 +454,10 @@ ppm_input(uint16_t *values, uint16_t *num_values, uint16_t *frame_len) { bool result = false; + if (!(num_values) || !(values) || !(frame_len)) { + return result; + } + /* avoid racing with PPM updates */ irqstate_t state = irqsave(); @@ -468,7 +472,7 @@ ppm_input(uint16_t *values, uint16_t *num_values, uint16_t *frame_len) if (*num_values > PX4IO_RC_INPUT_CHANNELS) *num_values = PX4IO_RC_INPUT_CHANNELS; - for (unsigned i = 0; i < *num_values; i++) { + for (unsigned i = 0; ((i < *num_values) && (i < PPM_MAX_CHANNELS)); i++) { values[i] = ppm_buffer[i]; } @@ -476,8 +480,7 @@ ppm_input(uint16_t *values, uint16_t *num_values, uint16_t *frame_len) ppm_last_valid_decode = 0; /* store PPM frame length */ - if (num_values) - *frame_len = ppm_frame_length; + *frame_len = ppm_frame_length; /* good if we got any channels */ result = (*num_values > 0); |