aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Rover: sanity check ROI target

Browse Source
This commit is contained in:
Randy Mackay 2015-08-27 14:36:15 +09:00
parent 1271e531e2
commit 84252405c3
1 changed files with 4 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
APMrover2/GCS_Mavlink.cpp
View File

@ -886,6 +886,10 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
#if MOUNT == ENABLED
// Sets the region of interest (ROI) for the camera
case MAV_CMD_DO_SET_ROI:
// sanity check location
if (fabsf(packet.param5) > 90.0f || fabsf(packet.param6) > 180.0f) {
break;
}
Location roi_loc;
roi_loc.lat = (int32_t)(packet.param5 * 1.0e7f);
roi_loc.lng = (int32_t)(packet.param6 * 1.0e7f);