From 4bdbd377313696e8caac61c7bc0aaedac9689366 Mon Sep 17 00:00:00 2001 From: bugobliterator Date: Sat, 19 Feb 2022 21:58:52 +0530 Subject: [PATCH] AP_HAL_ChibiOS: use datalength when copying payload into CAN Frames --- libraries/AP_HAL_ChibiOS/CANFDIface.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/libraries/AP_HAL_ChibiOS/CANFDIface.cpp b/libraries/AP_HAL_ChibiOS/CANFDIface.cpp index 2afec8938c..d648ee5fa8 100644 --- a/libraries/AP_HAL_ChibiOS/CANFDIface.cpp +++ b/libraries/AP_HAL_ChibiOS/CANFDIface.cpp @@ -887,7 +887,7 @@ bool CANIface::readRxFIFO(uint8_t fifo_index) frame.dlc = (frame_ptr[1] & DLC_MASK) >> 16; uint8_t *data = (uint8_t*)&frame_ptr[2]; - for (uint8_t i = 0; i < AP_HAL::CANFrame::MaxDataLen; i++) { + for (uint8_t i = 0; i < AP_HAL::CANFrame::dlcToDataLength(frame.dlc); i++) { frame.data[i] = data[i]; }