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AP_InertialSensor: Correct out-of-bounds array access that was causing SITL to crash

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This commit is contained in:
Jonathan Challinger 2014-02-27 11:32:54 -08:00 committed by Andrew Tridgell
parent 736201689b
commit e81d2e9584
2 changed files with 13 additions and 1 deletions
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2
libraries/AP_InertialSensor/AP_InertialSensor.h
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@ -11,7 +11,7 @@
maximum number of INS instances available on this platform. If more
than 1 then redundent sensors may be available
*/
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_LINUX
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_LINUX || CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
#define INS_MAX_INSTANCES 2
#else
#define INS_MAX_INSTANCES 1

12
libraries/AP_InertialSensor/AP_InertialSensor_HIL.cpp
View File

@ -68,6 +68,9 @@ bool AP_InertialSensor_HIL::wait_for_sample(uint16_t timeout_ms)
void AP_InertialSensor_HIL::set_accel(uint8_t instance, const Vector3f &accel)
{
if (instance >= INS_MAX_INSTANCES) {
return;
}
_previous_accel[instance] = _accel[instance];
_accel[instance] = accel;
_last_accel_usec[instance] = hal.scheduler->micros();
@ -75,17 +78,26 @@ void AP_InertialSensor_HIL::set_accel(uint8_t instance, const Vector3f &accel)
void AP_InertialSensor_HIL::set_gyro(uint8_t instance, const Vector3f &gyro)
{
if (instance >= INS_MAX_INSTANCES) {
return;
}
_gyro[instance] = gyro;
_last_gyro_usec[instance] = hal.scheduler->micros();
}
bool AP_InertialSensor_HIL::get_gyro_health(uint8_t instance) const
{
if (instance >= INS_MAX_INSTANCES) {
return false;
}
return (hal.scheduler->micros() - _last_gyro_usec[instance]) < 40000;
}
bool AP_InertialSensor_HIL::get_accel_health(uint8_t instance) const
{
if (instance >= INS_MAX_INSTANCES) {
return false;
}
return (hal.scheduler->micros() - _last_accel_usec[instance]) < 40000;
}