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Copter: sanity check do-set-home and do-set-ROI location

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This commit is contained in:
Randy Mackay 2015-08-27 14:38:55 +09:00
parent a9c6d34a9e
commit 4cdb5bf2bd
1 changed files with 8 additions and 0 deletions
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8
ArduCopter/GCS_Mavlink.cpp
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@ -1211,6 +1211,10 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
result = MAV_RESULT_ACCEPTED; result = MAV_RESULT_ACCEPTED;
} }
} else { } else {
// sanity check location
if (fabsf(packet.param5) > 90.0f || fabsf(packet.param6) > 180.0f) {
break;
}
Location new_home_loc; Location new_home_loc;
new_home_loc.lat = (int32_t)(packet.param5 * 1.0e7f); new_home_loc.lat = (int32_t)(packet.param5 * 1.0e7f);
new_home_loc.lng = (int32_t)(packet.param6 * 1.0e7f); new_home_loc.lng = (int32_t)(packet.param6 * 1.0e7f);
@ -1237,6 +1241,10 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
// param5 : x / lat // param5 : x / lat
// param6 : y / lon // param6 : y / lon
// param7 : z / alt // param7 : z / alt
// sanity check location
if (fabsf(packet.param5) > 90.0f || fabsf(packet.param6) > 180.0f) {
break;
}
Location roi_loc; Location roi_loc;
roi_loc.lat = (int32_t)(packet.param5 * 1.0e7f); roi_loc.lat = (int32_t)(packet.param5 * 1.0e7f);
roi_loc.lng = (int32_t)(packet.param6 * 1.0e7f); roi_loc.lng = (int32_t)(packet.param6 * 1.0e7f);