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GCS_MAVLink: avoid casting DroneCAN backend to incorrect type

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- split get_type into allocated_type and configured_type
 - check allocated type rather than configured type when looking at backends

Prevents overwrite of random memory when backends are changed at runtime.
This commit is contained in:
Peter Barker 2024-06-05 00:58:27 +10:00 committed by Andrew Tridgell
parent 029e0b15b3
commit fc560e8219
1 changed files with 3 additions and 1 deletions
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4
libraries/GCS_MAVLink/GCS_Common.cpp
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@ -377,7 +377,9 @@ bool GCS_MAVLINK::send_battery_status()
for(uint8_t i = 0; i < AP_BATT_MONITOR_MAX_INSTANCES; i++) { for(uint8_t i = 0; i < AP_BATT_MONITOR_MAX_INSTANCES; i++) {
const uint8_t battery_id = (last_battery_status_idx + 1) % AP_BATT_MONITOR_MAX_INSTANCES; const uint8_t battery_id = (last_battery_status_idx + 1) % AP_BATT_MONITOR_MAX_INSTANCES;
if (battery.get_type(battery_id) != AP_BattMonitor::Type::NONE) { const auto configured_type = battery.configured_type(battery_id);
if (configured_type != AP_BattMonitor::Type::NONE &&
configured_type == battery.allocated_type(battery_id)) {
CHECK_PAYLOAD_SIZE(BATTERY_STATUS); CHECK_PAYLOAD_SIZE(BATTERY_STATUS);
send_battery_status(battery_id); send_battery_status(battery_id);
last_battery_status_idx = battery_id; last_battery_status_idx = battery_id;