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AP_Mission: prevent infinite loop with linked jump commands

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this prevents a "jump loop" from causing a firmware lockup. Thanks to
dellarb for reporting this!
This commit is contained in:
Andrew Tridgell 2015-01-23 13:13:54 +11:00 committed by Randy Mackay
parent 0c3f43b2d7
commit b010556f37
1 changed files with 12 additions and 1 deletions
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13
libraries/AP_Mission/AP_Mission.cpp
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@ -964,7 +964,8 @@ bool AP_Mission::advance_current_nav_cmd()
} }
// search until we find next nav command or reach end of command list // search until we find next nav command or reach end of command list
while (!_flags.nav_cmd_loaded) { uint8_t max_loops = 64;
while (!_flags.nav_cmd_loaded && --max_loops) {
// get next command // get next command
if (!get_next_cmd(cmd_index, cmd, true)) { if (!get_next_cmd(cmd_index, cmd, true)) {
return false; return false;
@ -990,6 +991,11 @@ bool AP_Mission::advance_current_nav_cmd()
cmd_index = cmd.index+1; cmd_index = cmd.index+1;
} }
if (max_loops == 0) {
// the mission is looping
return false;
}
// if we got this far we must have successfully advanced the nav command // if we got this far we must have successfully advanced the nav command
return true; return true;
} }
@ -1045,6 +1051,7 @@ bool AP_Mission::get_next_cmd(uint16_t start_index, Mission_Command& cmd, bool i
uint16_t jump_index = AP_MISSION_CMD_INDEX_NONE; uint16_t jump_index = AP_MISSION_CMD_INDEX_NONE;
// search until the end of the mission command list // search until the end of the mission command list
uint8_t max_loops = 64;
while(cmd_index < (unsigned)_cmd_total) { while(cmd_index < (unsigned)_cmd_total) {
// load the next command // load the next command
if (!read_cmd_from_storage(cmd_index, temp_cmd)) { if (!read_cmd_from_storage(cmd_index, temp_cmd)) {
@ -1055,6 +1062,10 @@ bool AP_Mission::get_next_cmd(uint16_t start_index, Mission_Command& cmd, bool i
// check for do-jump command // check for do-jump command
if (temp_cmd.id == MAV_CMD_DO_JUMP) { if (temp_cmd.id == MAV_CMD_DO_JUMP) {
if (max_loops-- == 0) {
return false;
}
// check for invalid target // check for invalid target
if (temp_cmd.content.jump.target >= (unsigned)_cmd_total) { if (temp_cmd.content.jump.target >= (unsigned)_cmd_total) {
// To-Do: log an error? // To-Do: log an error?