From 270844745f5e2bf58fc1372e180516e0398b53d6 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Wed, 1 Jan 2020 09:08:31 +1100
Subject: [PATCH] AP_Compass: limit rotations we try to
 ROTATION_MAX_AUTO_ROTATION

---
 libraries/AP_Compass/CompassCalibrator.cpp | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/libraries/AP_Compass/CompassCalibrator.cpp b/libraries/AP_Compass/CompassCalibrator.cpp
index 633a5a0541..49334f4147 100644
--- a/libraries/AP_Compass/CompassCalibrator.cpp
+++ b/libraries/AP_Compass/CompassCalibrator.cpp
@@ -823,9 +823,9 @@ bool CompassCalibrator::calculate_orientation(void)
     // this function is very slow
     EXPECT_DELAY_MS(1000);
 
-    float variance[ROTATION_MAX] {};
+    float variance[ROTATION_MAX_AUTO_ROTATION+1] {};
 
-    for (enum Rotation r = ROTATION_NONE; r<ROTATION_MAX; r = (enum Rotation)(r+1)) {
+    for (enum Rotation r = ROTATION_NONE; r <= ROTATION_MAX_AUTO_ROTATION; r = (enum Rotation)(r+1)) {
         // calculate the average implied earth field across all samples
         Vector3f total_ef {};
         for (uint32_t i=0; i<_samples_collected; i++) {
@@ -846,7 +846,7 @@ bool CompassCalibrator::calculate_orientation(void)
     // find the rotation with the lowest variance
     enum Rotation besti = ROTATION_NONE;
     float bestv = variance[0];
-    for (enum Rotation r = ROTATION_NONE; r<ROTATION_MAX; r = (enum Rotation)(r+1)) {
+    for (enum Rotation r = ROTATION_NONE; r <= ROTATION_MAX_AUTO_ROTATION; r = (enum Rotation)(r+1)) {
         if (variance[r] < bestv) {
             bestv = variance[r];
             besti = r;
@@ -859,7 +859,7 @@ bool CompassCalibrator::calculate_orientation(void)
 
     float second_best = besti==ROTATION_NONE?variance[1]:variance[0];
     enum Rotation besti2 = ROTATION_NONE;
-    for (enum Rotation r = ROTATION_NONE; r<ROTATION_MAX; r = (enum Rotation)(r+1)) {
+    for (enum Rotation r = ROTATION_NONE; r <= ROTATION_MAX_AUTO_ROTATION; r = (enum Rotation)(r+1)) {
         if (!rotation_equal(besti, r)) {
             if (variance[r] < second_best) {
                 second_best = variance[r];