diff options
| -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; } |