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AP_NavEKF: Fix out of bounds index bug

This commit is contained in:
priseborough 2015-01-07 14:48:49 +11:00 committed by Andrew Tridgell
parent 300ba65f64
commit d656c94bbc
1 changed files with 2 additions and 2 deletions
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4
libraries/AP_NavEKF/AP_NavEKF.cpp
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@ -2835,7 +2835,7 @@ void NavEKF::FuseOptFlow()
tempVar[8] = (SK_LOS[4] + q0*tempVar[2]); tempVar[8] = (SK_LOS[4] + q0*tempVar[2]);
// calculate observation jacobians for X LOS rate // calculate observation jacobians for X LOS rate
for (uint8_t i = 0; i < 23; i++) H_LOS[i] = 0; for (uint8_t i = 0; i < 22; i++) H_LOS[i] = 0;
H_LOS[0] = - SH_LOS[0]*SH_LOS[3]*(2*q1*vd + 2*q0*ve - 2*q3*vn) - 2*q0*SH_LOS[2]*SH_LOS[3]; H_LOS[0] = - SH_LOS[0]*SH_LOS[3]*(2*q1*vd + 2*q0*ve - 2*q3*vn) - 2*q0*SH_LOS[2]*SH_LOS[3];
H_LOS[1] = 2*q1*SH_LOS[2]*SH_LOS[3] - SH_LOS[0]*SH_LOS[3]*(2*q0*vd - 2*q1*ve + 2*q2*vn); H_LOS[1] = 2*q1*SH_LOS[2]*SH_LOS[3] - SH_LOS[0]*SH_LOS[3]*(2*q0*vd - 2*q1*ve + 2*q2*vn);
H_LOS[2] = 2*q2*SH_LOS[2]*SH_LOS[3] - SH_LOS[0]*SH_LOS[3]*(2*q3*vd + 2*q2*ve + 2*q1*vn); H_LOS[2] = 2*q2*SH_LOS[2]*SH_LOS[3] - SH_LOS[0]*SH_LOS[3]*(2*q3*vd + 2*q2*ve + 2*q1*vn);
@ -2899,7 +2899,7 @@ void NavEKF::FuseOptFlow()
tempVar[8] = SH_LOS[0]*SK_LOS[7]*SK_LOS[8]; tempVar[8] = SH_LOS[0]*SK_LOS[7]*SK_LOS[8];
// Calculate observation jacobians for Y LOS rate // Calculate observation jacobians for Y LOS rate
for (uint8_t i = 0; i < 23; i++) H_LOS[i] = 0; for (uint8_t i = 0; i < 22; i++) H_LOS[i] = 0;
H_LOS[0] = SH_LOS[0]*SH_LOS[3]*(2*q3*ve - 2*q2*vd + 2*q0*vn) + 2*q0*SH_LOS[1]*SH_LOS[3]; H_LOS[0] = SH_LOS[0]*SH_LOS[3]*(2*q3*ve - 2*q2*vd + 2*q0*vn) + 2*q0*SH_LOS[1]*SH_LOS[3];
H_LOS[1] = SH_LOS[0]*SH_LOS[3]*(2*q3*vd + 2*q2*ve + 2*q1*vn) - 2*q1*SH_LOS[1]*SH_LOS[3]; H_LOS[1] = SH_LOS[0]*SH_LOS[3]*(2*q3*vd + 2*q2*ve + 2*q1*vn) - 2*q1*SH_LOS[1]*SH_LOS[3];
H_LOS[2] = - SH_LOS[0]*SH_LOS[3]*(2*q0*vd - 2*q1*ve + 2*q2*vn) - 2*q2*SH_LOS[1]*SH_LOS[3]; H_LOS[2] = - SH_LOS[0]*SH_LOS[3]*(2*q0*vd - 2*q1*ve + 2*q2*vn) - 2*q2*SH_LOS[1]*SH_LOS[3];