From bb7cf6c0b68d0a9346601874ba7e1849d1f999d3 Mon Sep 17 00:00:00 2001
From: Michael du Breuil <michael@swiftradioplanes.com>
Date: Mon, 11 Apr 2016 14:06:03 -0700
Subject: [PATCH] AP_Math: Update location_sanitize to sanitize for lat/lng

---
 libraries/AP_Math/location.cpp | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/libraries/AP_Math/location.cpp b/libraries/AP_Math/location.cpp
index b4f3368939..789942640f 100644
--- 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;
 }