Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-03 06:28:27 -04:00
Code Issues Packages Projects Releases Wiki Activity

AC_Fence: Fix int32_t overflow with large longitude values

Browse Source
This commit is contained in:
James O'Shannessy 2021-03-04 01:05:48 +11:00 committed by Peter Barker
parent 560943d6e0
commit 43e06e9040
1 changed files with 5 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

7
libraries/AC_Fence/AC_PolyFence_loader.cpp
View File

@ -1186,8 +1186,11 @@ bool AC_PolyFence_loader::get_return_point(Vector2l &ret)
}
}
ret.x = ((min_loc.x+max_loc.x)/2);
ret.y = ((min_loc.y+max_loc.y)/2);
// Potential for int32_t overflow when longitudes are beyond [-107, 107].
// As a result, the calculated return point's longitude is calculated using overflowed figure.
// Dividing first before adding avoids the potential overflow.
ret.x = (min_loc.x / 2) + (max_loc.x / 2);
ret.y = (min_loc.y / 2) + (max_loc.y / 2);
return true;
}