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AP_Proximity: correct length sanity check

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the length field is actually the count of 3-byte data elements
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Peter Barker 2024-12-20 13:37:24 +11:00 committed by Randy Mackay
parent 3639fa6d17
commit 54a36170e4
1 changed files with 4 additions and 2 deletions
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6
libraries/AP_Proximity/AP_Proximity_LD06.cpp
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@ -106,8 +106,10 @@ void AP_Proximity_LD06::get_readings()
continue; continue;
} }
const uint32_t total_packet_length = _response[START_DATA_LENGTH] + 3; // total_packet_length = sizeof(header) + datalength + sizeof(footer):
if (total_packet_length > ARRAY_SIZE(_response)) { const uint32_t total_packet_length = 6 + 3*_response[START_DATA_LENGTH] + 5;
if (_response[START_DATA_LENGTH] != PAYLOAD_COUNT ||
total_packet_length > ARRAY_SIZE(_response)) {
// invalid packet received; throw away all data and // invalid packet received; throw away all data and
// start again. // start again.
_byte_count = 0; _byte_count = 0;