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Copter: sanity check gps latlng

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This commit is contained in:
Tom Pittenger 2016-06-01 15:29:40 -07:00
parent 698017d0b1
commit b433250da5
1 changed files with 19 additions and 4 deletions
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23
ArduCopter/GCS_Mavlink.cpp
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@ -1129,7 +1129,7 @@ void GCS_MAVLINK_Copter::handleMessage(mavlink_message_t* msg)
// y : lon // y : lon
// z : alt // z : alt
// sanity check location // sanity check location
if (labs(packet.x) >= 900000000l || labs(packet.y) >= 1800000000l) { if (!check_latlng(packet.x, packet.y)) {
break; break;
} }
Location roi_loc; Location roi_loc;
@ -1244,7 +1244,7 @@ void GCS_MAVLINK_Copter::handleMessage(mavlink_message_t* msg)
} }
} else { } else {
// sanity check location // sanity check location
if (fabsf(packet.param5) > 90.0f || fabsf(packet.param6) > 180.0f) { if (!check_latlng(packet.param5, packet.param6)) {
break; break;
} }
Location new_home_loc; Location new_home_loc;
@ -1274,7 +1274,7 @@ void GCS_MAVLINK_Copter::handleMessage(mavlink_message_t* msg)
// param6 : y / lon // param6 : y / lon
// param7 : z / alt // param7 : z / alt
// sanity check location // sanity check location
if (fabsf(packet.param5) > 90.0f || fabsf(packet.param6) > 180.0f) { if (!check_latlng(packet.param5, packet.param6)) {
break; break;
} }
Location roi_loc; Location roi_loc;
@ -1784,6 +1784,11 @@ void GCS_MAVLINK_Copter::handleMessage(mavlink_message_t* msg)
Vector3f pos_ned; Vector3f pos_ned;
if(!pos_ignore) { if(!pos_ignore) {
// sanity check location
if (!check_latlng(packet.lat_int, packet.lon_int)) {
result = MAV_RESULT_FAILED;
break;
}
Location loc; Location loc;
loc.lat = packet.lat_int; loc.lat = packet.lat_int;
loc.lng = packet.lon_int; loc.lng = packet.lon_int;
@ -1838,6 +1843,11 @@ void GCS_MAVLINK_Copter::handleMessage(mavlink_message_t* msg)
mavlink_hil_state_t packet; mavlink_hil_state_t packet;
mavlink_msg_hil_state_decode(msg, &packet); mavlink_msg_hil_state_decode(msg, &packet);
// sanity check location
if (!check_latlng(packet.lat, packet.lon)) {
break;
}
// set gps hil sensor // set gps hil sensor
Location loc; Location loc;
loc.lat = packet.lat; loc.lat = packet.lat;
@ -1961,6 +1971,11 @@ void GCS_MAVLINK_Copter::handleMessage(mavlink_message_t* msg)
break; break;
} }
// sanity check location
if (!check_latlng(packet.lat, packet.lng)) {
break;
}
RallyLocation rally_point; RallyLocation rally_point;
rally_point.lat = packet.lat; rally_point.lat = packet.lat;
rally_point.lng = packet.lng; rally_point.lng = packet.lng;
@ -2022,7 +2037,7 @@ void GCS_MAVLINK_Copter::handleMessage(mavlink_message_t* msg)
copter.set_home_to_current_location_and_lock(); copter.set_home_to_current_location_and_lock();
} else { } else {
// sanity check location // sanity check location
if (labs(packet.latitude) > 90*10e7 || labs(packet.longitude) > 180 * 10e7) { if (!check_latlng(packet.latitude, packet.longitude)) {
break; break;
} }
Location new_home_loc; Location new_home_loc;