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AP_MSP: avoid nullptr dereference on bad rcmap

This commit is contained in:
Peter Barker 2024-09-09 09:53:08 +10:00 committed by Peter Barker
parent f2604f2f34
commit 154229006a
1 changed files with 4 additions and 15 deletions
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19
libraries/AP_MSP/AP_MSP_Telem_Backend.cpp
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@ -25,7 +25,6 @@
#include <AP_Notify/AP_Notify.h>
#include <AP_OpticalFlow/AP_OpticalFlow.h>
#include <AP_RangeFinder/AP_RangeFinder.h>
#include <AP_RCMapper/AP_RCMapper.h>
#include <AP_RSSI/AP_RSSI.h>
#include <AP_RTC/AP_RTC.h>
#include <GCS_MAVLink/GCS.h>
@ -1068,17 +1067,10 @@ MSPCommandResult AP_MSP_Telem_Backend::msp_process_out_rtc(sbuf_t *dst)
#if AP_RC_CHANNEL_ENABLED
MSPCommandResult AP_MSP_Telem_Backend::msp_process_out_rc(sbuf_t *dst)
{
#if AP_RCMAPPER_ENABLED
const RCMapper* rcmap = AP::rcmap();
if (rcmap == nullptr) {
return MSP_RESULT_ERROR;
}
// note: rcmap channels start at 1
float roll = rc().rc_channel(rcmap->roll()-1)->norm_input_dz();
float pitch = -rc().rc_channel(rcmap->pitch()-1)->norm_input_dz();
float yaw = rc().rc_channel(rcmap->yaw()-1)->norm_input_dz();
float throttle = rc().rc_channel(rcmap->throttle()-1)->norm_input_dz();
float roll = rc().get_roll_channel().norm_input_dz();
float pitch = -rc().get_pitch_channel().norm_input_dz();
float yaw = rc().get_yaw_channel().norm_input_dz();
float throttle = rc().get_throttle_channel().norm_input_dz();
const struct PACKED {
uint16_t a;
@ -1095,9 +1087,6 @@ MSPCommandResult AP_MSP_Telem_Backend::msp_process_out_rc(sbuf_t *dst)
sbuf_write_data(dst, &rc, sizeof(rc));
return MSP_RESULT_ACK;
#else
return MSP_RESULT_ERROR;
#endif
}
#endif // AP_RC_CHANNEL_ENABLED