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AP_Rally: correct math conversion problems

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If the rally point storage size got *large* you'd end up with integer
overflow problems here.
This commit is contained in:
Peter Barker 2019-04-04 13:29:11 +11:00 committed by Andrew Tridgell
parent e3057b40f3
commit ddfccf1e67
2 changed files with 12 additions and 4 deletions
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2
libraries/AP_Rally/AP_Rally.cpp
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@ -9,6 +9,8 @@
// storage object // storage object
StorageAccess AP_Rally::_storage(StorageManager::StorageRally); StorageAccess AP_Rally::_storage(StorageManager::StorageRally);
assert_storage_size<RallyLocation, 15> _assert_storage_size_RallyLocation;
#if APM_BUILD_TYPE(APM_BUILD_ArduCopter) #if APM_BUILD_TYPE(APM_BUILD_ArduCopter)
#define RALLY_LIMIT_KM_DEFAULT 0.3f #define RALLY_LIMIT_KM_DEFAULT 0.3f
#define RALLY_INCLUDE_HOME_DEFAULT 1 #define RALLY_INCLUDE_HOME_DEFAULT 1

14
libraries/AP_Rally/AP_Rally.h
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@ -18,8 +18,6 @@
#include <AP_Common/Location.h> #include <AP_Common/Location.h>
#include <AP_Param/AP_Param.h> #include <AP_Param/AP_Param.h>
#define AP_RALLY_WP_SIZE 15 // eeprom size of rally points
struct PACKED RallyLocation { struct PACKED RallyLocation {
int32_t lat; //Latitude * 10^7 int32_t lat; //Latitude * 10^7
int32_t lng; //Longitude * 10^7 int32_t lng; //Longitude * 10^7
@ -44,8 +42,16 @@ public:
// data handling // data handling
bool get_rally_point_with_index(uint8_t i, RallyLocation &ret) const; bool get_rally_point_with_index(uint8_t i, RallyLocation &ret) const;
bool set_rally_point_with_index(uint8_t i, const RallyLocation &rallyLoc); bool set_rally_point_with_index(uint8_t i, const RallyLocation &rallyLoc);
uint8_t get_rally_total() const { return _rally_point_total_count; } uint8_t get_rally_total() const {
uint8_t get_rally_max(void) const { return _storage.size() / AP_RALLY_WP_SIZE; } return (uint8_t)_rally_point_total_count;
}
uint8_t get_rally_max(void) const {
const uint16_t ret = _storage.size() / uint16_t(sizeof(RallyLocation));
if (ret > 255) {
return 255;
}
return (uint8_t)ret;
}
float get_rally_limit_km() const { return _rally_limit_km; } float get_rally_limit_km() const { return _rally_limit_km; }