Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-03-08 06:34:22 -04:00
Code Issues Packages Projects Releases Wiki Activity

HAL_SITL: prevent array overruns in RCInput/RCOutput

Browse Source
This commit is contained in:
Andrew Tridgell 2014-11-11 15:15:28 +11:00
parent ed099a73a3
commit a566ebe4ec
2 changed files with 10 additions and 1 deletions
libraries/AP_HAL_AVR_SITL
RCInput.cppRCOutput.cpp

3
libraries/AP_HAL_AVR_SITL/RCInput.cpp
View File

@ -18,6 +18,9 @@ bool SITLRCInput::new_input() {
uint16_t SITLRCInput::read(uint8_t ch) { uint16_t SITLRCInput::read(uint8_t ch) {
_sitlState->new_rc_input = false; _sitlState->new_rc_input = false;
if (ch >= 8) {
return 0;
}
return _override[ch]? _override[ch] : _sitlState->pwm_input[ch]; return _override[ch]? _override[ch] : _sitlState->pwm_input[ch];
} }

8
libraries/AP_HAL_AVR_SITL/RCOutput.cpp
View File

@ -23,7 +23,9 @@ void SITLRCOutput::disable_ch(uint8_t ch)
void SITLRCOutput::write(uint8_t ch, uint16_t period_us) void SITLRCOutput::write(uint8_t ch, uint16_t period_us)
{ {
if (ch < 11) {
_sitlState->pwm_output[ch] = period_us; _sitlState->pwm_output[ch] = period_us;
}
} }
void SITLRCOutput::write(uint8_t ch, uint16_t* period_us, uint8_t len) void SITLRCOutput::write(uint8_t ch, uint16_t* period_us, uint8_t len)
@ -31,8 +33,12 @@ void SITLRCOutput::write(uint8_t ch, uint16_t* period_us, uint8_t len)
memcpy(_sitlState->pwm_output+ch, period_us, len*sizeof(uint16_t)); memcpy(_sitlState->pwm_output+ch, period_us, len*sizeof(uint16_t));
} }
uint16_t SITLRCOutput::read(uint8_t ch) { uint16_t SITLRCOutput::read(uint8_t ch)
{
if (ch < 11) {
return _sitlState->pwm_output[ch]; return _sitlState->pwm_output[ch];
}
return 0;
} }
void SITLRCOutput::read(uint16_t* period_us, uint8_t len) void SITLRCOutput::read(uint16_t* period_us, uint8_t len)