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| author | Andrew Tridgell <tridge@samba.org> | 2014-11-20 17:00:02 +1100 |
|---|---|---|
| committer | Andrew Tridgell <tridge@samba.org> | 2014-11-26 08:32:47 +1100 |
| commit | 8e44ec2e3bd6852b74e4463c373555dd1bab47d3 (patch) | |
| tree | 7bc4438690f76341192809bdd375a37c10b1eaf8 /src | |
| parent | ead0458e97d6e19cc0b188124063e90962820e3a (diff) | |
| download | px4-firmware-8e44ec2e3bd6852b74e4463c373555dd1bab47d3.tar.gz px4-firmware-8e44ec2e3bd6852b74e4463c373555dd1bab47d3.tar.bz2 px4-firmware-8e44ec2e3bd6852b74e4463c373555dd1bab47d3.zip | |
uavcan: prevent crash in ESC driver
passing in more than 8 actuators would crash the ESC driver. We need
to check again the array size of the _esc_status.esc, which is
CONNECTED_ESC_MAX
Diffstat (limited to 'src')
| -rw-r--r-- | src/modules/uavcan/actuators/esc.cpp | 4 |
1 files changed, 3 insertions, 1 deletions
diff --git a/src/modules/uavcan/actuators/esc.cpp b/src/modules/uavcan/actuators/esc.cpp index 7efd50511..9f682c7e1 100644 --- a/src/modules/uavcan/actuators/esc.cpp +++ b/src/modules/uavcan/actuators/esc.cpp @@ -76,7 +76,9 @@ int UavcanEscController::init() void UavcanEscController::update_outputs(float *outputs, unsigned num_outputs) { - if ((outputs == nullptr) || (num_outputs > uavcan::equipment::esc::RawCommand::FieldTypes::cmd::MaxSize)) { + if ((outputs == nullptr) || + (num_outputs > uavcan::equipment::esc::RawCommand::FieldTypes::cmd::MaxSize) || + (num_outputs > CONNECTED_ESC_MAX)) { perf_count(_perfcnt_invalid_input); return; } |