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SITL: panic if we attempt to filter out-of-range servo index

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Peter Barker 2021-06-21 11:33:42 +10:00 committed by Peter Barker
parent c5c2b18a0b
commit 09ba017b5b
1 changed files with 5 additions and 0 deletions
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5
libraries/SITL/SIM_Aircraft.cpp
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@ -799,6 +799,11 @@ float Aircraft::filtered_idx(float v, uint8_t idx)
}
const float cutoff = 1.0f / (2 * M_PI * sitl->servo_speed);
servo_filter[idx].set_cutoff_frequency(cutoff);
if (idx >= ARRAY_SIZE(servo_filter)) {
AP_HAL::panic("Attempt to filter invalid servo at offset %u", (unsigned)idx);
}
return servo_filter[idx].apply(v, frame_time_us * 1.0e-6f);
}