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author | Lorenz Meier <lm@inf.ethz.ch> | 2014-05-06 14:57:06 +0200 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-05-06 14:57:06 +0200 |
commit | 1d6b9fae037422f4c61bdd7ee1a5ea0803a59726 (patch) | |
tree | de9eee67d075d1e5b04746e40d14dc16bebd09db /src/modules | |
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')
-rw-r--r-- | src/modules/commander/commander.cpp | 5 | ||||
-rw-r--r-- | src/modules/mavlink/mavlink_receiver.cpp | 6 |
2 files changed, 11 insertions, 0 deletions
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 53ed34f46..141b371b3 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -484,6 +484,11 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe if (cmd->param1 != 0.0f && (fabsf(cmd->param1 - 1.0f) > 2.0f * FLT_EPSILON)) { mavlink_log_info(mavlink_fd, "Unsupported ARM_DISARM parameter: %.6f", cmd->param1); } else { + + // Flick to inair restore first if this comes from an onboard system + if (cmd->source_system == status->system_id && cmd->source_component == status->component_id) { + status->arming_state = ARMING_STATE_IN_AIR_RESTORE; + } transition_result_t arming_res = arm_disarm(cmd->param1 != 0.0f, mavlink_fd, "arm/disarm component command"); if (arming_res == TRANSITION_DENIED) { mavlink_log_critical(mavlink_fd, "#audio: REJECTING component arm cmd"); 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)); |