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APMrover2: sanity check gps latlng

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This commit is contained in:
Tom Pittenger 2016-06-01 15:29:32 -07:00
parent 7b4c503052
commit 698017d0b1
1 changed files with 7 additions and 2 deletions
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9
APMrover2/GCS_Mavlink.cpp
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@ -864,7 +864,7 @@ void GCS_MAVLINK_Rover::handleMessage(mavlink_message_t* msg)
// Sets the region of interest (ROI) for the camera
case MAV_CMD_DO_SET_ROI:
// sanity check location
if (fabsf(packet.param5) > 90.0f || fabsf(packet.param6) > 180.0f) {
if (!check_latlng(packet.param5, packet.param6)) {
break;
}
Location roi_loc;
@ -1095,7 +1095,7 @@ void GCS_MAVLINK_Rover::handleMessage(mavlink_message_t* msg)
break;
}
// sanity check location
if (fabsf(packet.param5) > 90.0f || fabsf(packet.param6) > 180.0f) {
if (!check_latlng(packet.param5, packet.param6)) {
break;
}
Location new_home_loc {};
@ -1268,6 +1268,11 @@ void GCS_MAVLINK_Rover::handleMessage(mavlink_message_t* msg)
mavlink_hil_state_t packet;
mavlink_msg_hil_state_decode(msg, &packet);
// sanity check location
if (!check_latlng(packet.lat, packet.lon)) {
break;
}
// set gps hil sensor
Location loc;
loc.lat = packet.lat;