AP_Math: Update location_sanitize to sanitize for lat/lng

2016-04-11 14:06:03 -07:00 · 2016-04-11 14:06:03 -07:00 · bb7cf6c0b6
parent 62574b35b5
commit bb7cf6c0b6
1 changed files with 8 additions and 0 deletions
--- a/libraries/AP_Math/location.cpp
+++ b/libraries/AP_Math/location.cpp
@ -259,6 +259,14 @@ bool location_sanitize(const struct Location &defaultLoc, struct Location &loc)
        loc.alt = defaultLoc.alt;
        has_changed = true;
    }
+
+    // limit lat/lng to appropriate ranges
+    if (abs(loc.lat) > 90 * 1e7 || abs(loc.lng) > 180 * 1e7) {
+        loc.lat = defaultLoc.lat;
+        loc.lng = defaultLoc.lng;
+        has_changed = true;
+    }
+
    return has_changed;
 }