Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AP_Proximity: correct checking of valid instance in various getters

This commit is contained in:
Peter Barker 2019-09-27 18:48:49 +10:00 committed by Randy Mackay
parent 21a5618517
commit b57b69685a
1 changed files with 6 additions and 10 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

16
libraries/AP_Proximity/AP_Proximity.cpp
View File

@ -214,14 +214,10 @@ void AP_Proximity::init(void)
void AP_Proximity::update(void) void AP_Proximity::update(void)
{ {
for (uint8_t i=0; i<num_instances; i++) { for (uint8_t i=0; i<num_instances; i++) {
if (drivers[i] != nullptr) { if (!valid_instance(i)) {
if (get_type(i) == Type::None) { continue;
// allow user to disable a proximity sensor at runtime
state[i].status = Proximity_NotConnected;
continue;
}
drivers[i]->update();
} }
drivers[i]->update();
} }
// work out primary instance - first sensor returning good data // work out primary instance - first sensor returning good data
@ -235,7 +231,7 @@ void AP_Proximity::update(void)
// return sensor orientation // return sensor orientation
uint8_t AP_Proximity::get_orientation(uint8_t instance) const uint8_t AP_Proximity::get_orientation(uint8_t instance) const
{ {
if (instance >= PROXIMITY_MAX_INSTANCES) { if (!valid_instance(instance)) {
return 0; return 0;
} }
@ -245,7 +241,7 @@ uint8_t AP_Proximity::get_orientation(uint8_t instance) const
// return sensor yaw correction // return sensor yaw correction
int16_t AP_Proximity::get_yaw_correction(uint8_t instance) const int16_t AP_Proximity::get_yaw_correction(uint8_t instance) const
{ {
if (instance >= PROXIMITY_MAX_INSTANCES) { if (!valid_instance(instance)) {
return 0; return 0;
} }
@ -256,7 +252,7 @@ int16_t AP_Proximity::get_yaw_correction(uint8_t instance) const
AP_Proximity::Proximity_Status AP_Proximity::get_status(uint8_t instance) const AP_Proximity::Proximity_Status AP_Proximity::get_status(uint8_t instance) const
{ {
// sanity check instance number // sanity check instance number
if (instance >= num_instances) { if (!valid_instance(instance)) {
return Proximity_NotConnected; return Proximity_NotConnected;
} }