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AP_Airspeed: Clean up some comments, prevent a potential out of range access

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Michael du Breuil 2018-05-28 13:12:26 -07:00 committed by Francisco Ferreira
parent 84b1a6a58b
commit abd5bffda5
1 changed files with 7 additions and 3 deletions
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10
libraries/AP_Airspeed/AP_Airspeed.h
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@ -83,7 +83,10 @@ public:
// return true if airspeed is enabled // return true if airspeed is enabled
bool enabled(uint8_t i) const { bool enabled(uint8_t i) const {
return param[i].type.get() != TYPE_NONE; if (i < AIRSPEED_MAX_SENSORS) {
return param[i].type.get() != TYPE_NONE;
}
return false;
} }
bool enabled(void) const { return enabled(primary); } bool enabled(void) const { return enabled(primary); }
@ -92,8 +95,7 @@ public:
state[primary].airspeed = airspeed; state[primary].airspeed = airspeed;
} }
// return the differential pressure in Pascal for the last // return the differential pressure in Pascal for the last airspeed reading
// airspeed reading. Used by the calibration code
float get_differential_pressure(uint8_t i) const { float get_differential_pressure(uint8_t i) const {
return state[i].last_pressure; return state[i].last_pressure;
} }
@ -215,6 +217,8 @@ private:
uint8_t primary; uint8_t primary;
void read(uint8_t i); void read(uint8_t i);
// return the differential pressure in Pascal for the last airspeed reading for the requested instance
// returns 0 if the sensor is not enabled
float get_pressure(uint8_t i); float get_pressure(uint8_t i);
void update_calibration(uint8_t i, float raw_pressure); void update_calibration(uint8_t i, float raw_pressure);
void update_calibration(uint8_t i, const Vector3f &vground, int16_t max_airspeed_allowed_during_cal); void update_calibration(uint8_t i, const Vector3f &vground, int16_t max_airspeed_allowed_during_cal);