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SIM_VectorNav: stop using nmea_printf on buffer data 

can't use nmea_printf here as the buffer data won't be null-terminated
This commit is contained in:
Peter Barker 2024-07-19 12:30:56 +10:00 committed by Peter Barker
parent dcf342d7e3
commit 9c1fe4e1c9
1 changed files with 17 additions and 7 deletions
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24
libraries/SITL/SIM_VectorNav.cpp
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@ -214,14 +214,24 @@ void VectorNav::update(void)
}
char receive_buf[50];
const ssize_t n = read_from_autopilot(&receive_buf[0], ARRAY_SIZE(receive_buf));
if (n > 0) {
if (strncmp(receive_buf, "$VNRRG,01", 9) == 0) {
nmea_printf("$VNRRG,01,VN-300-SITL");
} else {
nmea_printf("$%s", receive_buf);
}
ssize_t n = read_from_autopilot(&receive_buf[0], ARRAY_SIZE(receive_buf));
if (n <= 0) {
return;
}
// avoid parsing the NMEA stream here by making assumptions about
// how we receive configuration strings. Generally we can just
// echo back the configuration string to make the driver happy.
if (n >= 9) {
// intercept device-version query, respond with simulated version:
const char *ver_query_string = "$VNRRG,01";
if (strncmp(receive_buf, ver_query_string, strlen(ver_query_string)) == 0) {
nmea_printf("$VNRRG,01,VN-300-SITL");
// consume the query so we don't "respond" twice:
memmove(&receive_buf[0], &receive_buf[strlen(ver_query_string)], n - strlen(ver_query_string));
n -= strlen(ver_query_string);
}
}
write_to_autopilot(receive_buf, n);
}