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GCS_MAVLink: prevent integer underflow with comm_get_txspace()

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This commit is contained in:
Andrew Tridgell 2014-07-26 16:58:44 +10:00
parent fe3c51d516
commit a21998aece
1 changed files with 8 additions and 10 deletions
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18
libraries/GCS_MAVLink/GCS_Common.cpp
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@ -787,7 +787,8 @@ void GCS_MAVLINK::handle_mission_item(mavlink_message_t *msg, AP_Mission &missio
} else {
waypoint_timelast_request = hal.scheduler->millis();
// if we have enough space, then send the next WP immediately
if (comm_get_txspace(chan) - MAVLINK_NUM_NON_PAYLOAD_BYTES >= MAVLINK_MSG_ID_MISSION_ITEM_LEN) {
if (comm_get_txspace(chan) >=
MAVLINK_NUM_NON_PAYLOAD_BYTES+MAVLINK_MSG_ID_MISSION_ITEM_LEN) {
queued_waypoint_send();
} else {
send_message(MSG_NEXT_WAYPOINT);
@ -922,9 +923,8 @@ GCS_MAVLINK::update(void (*run_cli)(AP_HAL::UARTDriver *))
*/
bool GCS_MAVLINK::send_gps_raw(AP_GPS &gps)
{
int16_t payload_space = comm_get_txspace(chan) - MAVLINK_NUM_NON_PAYLOAD_BYTES;
if (payload_space >= MAVLINK_MSG_ID_GPS_RAW_INT_LEN) {
if (comm_get_txspace(chan) >=
MAVLINK_MSG_ID_GPS_RAW_INT_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) {
gps.send_mavlink_gps_raw(chan);
} else {
return false;
@ -932,8 +932,7 @@ bool GCS_MAVLINK::send_gps_raw(AP_GPS &gps)
#if GPS_RTK_AVAILABLE
if (gps.highest_supported_status(0) > AP_GPS::GPS_OK_FIX_3D) {
payload_space = comm_get_txspace(chan) - MAVLINK_NUM_NON_PAYLOAD_BYTES;
if (payload_space >= MAVLINK_MSG_ID_GPS_RTK_LEN) {
if (comm_get_txspace(chan) >= MAVLINK_NUM_NON_PAYLOAD_BYTES+MAVLINK_MSG_ID_GPS_RTK_LEN) {
gps.send_mavlink_gps_rtk(chan);
}
@ -944,15 +943,14 @@ bool GCS_MAVLINK::send_gps_raw(AP_GPS &gps)
if (gps.num_sensors() > 1 && gps.status(1) > AP_GPS::NO_GPS) {
payload_space = comm_get_txspace(chan) - MAVLINK_NUM_NON_PAYLOAD_BYTES;
if (payload_space >= MAVLINK_MSG_ID_GPS2_RAW_LEN) {
if (comm_get_txspace(chan) >= MAVLINK_NUM_NON_PAYLOAD_BYTES+MAVLINK_MSG_ID_GPS2_RAW_LEN) {
gps.send_mavlink_gps2_raw(chan);
}
#if GPS_RTK_AVAILABLE
if (gps.highest_supported_status(1) > AP_GPS::GPS_OK_FIX_3D) {
payload_space = comm_get_txspace(chan) - MAVLINK_NUM_NON_PAYLOAD_BYTES;
if (payload_space >= MAVLINK_MSG_ID_GPS2_RTK_LEN) {
if (comm_get_txspace(chan) >=
MAVLINK_NUM_NON_PAYLOAD_BYTES+MAVLINK_MSG_ID_GPS2_RTK_LEN) {
gps.send_mavlink_gps2_rtk(chan);
}
}