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AP_NavEKF2: fixed memory corruption on push before init 

this fixes a bug that happens with VISION_SPEED_ESTIMATE from a
companion computer, which may come in before the EKF buffers are
allocated. That causes a push to an uninitialised ringbuffer which
triggers memory corruption

found using the new memory guard system
This commit is contained in:
Andrew Tridgell 2020-11-14 14:09:24 +11:00
parent 5e1aef5361
commit a86734171c
1 changed files with 3 additions and 0 deletions
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3
libraries/AP_NavEKF2/AP_NavEKF2_Buffer.h
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@ -85,6 +85,9 @@ public:
*/ */
inline void push(element_type element) inline void push(element_type element)
{ {
if (buffer == nullptr) {
return;
}
// Advance head to next available index // Advance head to next available index
_head = (_head+1)%_size; _head = (_head+1)%_size;
// New data is written at the head // New data is written at the head