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AP_Airspeed: healthy: check enabled first for instance range check

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Iampete1 2024-09-09 13:18:32 +01:00 committed by Peter Barker
parent ae6376fcd6
commit b1fe1f18d4
1 changed files with 4 additions and 1 deletions
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5
libraries/AP_Airspeed/AP_Airspeed.cpp
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@ -876,7 +876,10 @@ bool AP_Airspeed::enabled(uint8_t i) const {
// return health status of sensor
bool AP_Airspeed::healthy(uint8_t i) const {
bool ok = state[i].healthy && enabled(i) && sensor[i] != nullptr;
if (!enabled(i)) {
return false;
}
bool ok = state[i].healthy && sensor[i] != nullptr;
#ifndef HAL_BUILD_AP_PERIPH
// sanity check the offset parameter. Zero is permitted if we are skipping calibration.
ok &= (fabsf(param[i].offset) > 0 || state[i].use_zero_offset || param[i].skip_cal);