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ArduPlane: fixed memory unsafe member access in GCS_MAVLINK

This commit is contained in:
Pat Hickey 2013-02-02 22:43:05 -08:00
parent d418197898
commit 85d783d5a9
2 changed files with 33 additions and 4 deletions
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3
ArduPlane/GCS.h
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@ -193,8 +193,7 @@ private:
uint16_t waypoint_send_timeout; // milliseconds
uint16_t waypoint_receive_timeout; // milliseconds
// data stream rates. The code assumes that
// streamRateRawSensors is the first
// data stream rates
AP_Int16 streamRateRawSensors;
AP_Int16 streamRateExtendedStatus;
AP_Int16 streamRateRCChannels;

34
ArduPlane/GCS_Mavlink.pde
View File

@ -849,8 +849,38 @@ GCS_MAVLINK::update(void)
// see if we should send a stream now. Called at 50Hz
bool GCS_MAVLINK::stream_trigger(enum streams stream_num)
{
AP_Int16 *stream_rates = &streamRateRawSensors;
float rate = (uint8_t)stream_rates[stream_num].get();
float rate;
switch (stream_num) {
case STREAM_RAW_SENSORS:
rate = (float) streamRateRawSensors.get();
break;
case STREAM_EXTENDED_STATUS:
rate = (float) streamRateExtendedStatus.get();
break;
case STREAM_RC_CHANNELS:
rate = (float) streamRateRCChannels.get();
break;
case STREAM_RAW_CONTROLLER:
rate = (float) streamRateRawController.get();
break;
case STREAM_POSITION:
rate = (float) streamRatePosition.get();
break;
case STREAM_EXTRA1:
rate = (float) streamRateExtra1.get();
break;
case STREAM_EXTRA2:
rate = (float) streamRateExtra2.get();
break;
case STREAM_EXTRA3:
rate = (float) streamRateExtra3.get();
break;
case STREAM_PARAMS:
rate = (float) streamRateParams.get();
break;
default:
rate = 0.0f;
}
// send at a much lower rate while handling waypoints and
// parameter sends