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AP_BattMonitor: Fix nullptr deref when resetting a battery

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This commit is contained in:
Michael du Breuil 2021-03-26 18:10:17 -07:00 committed by Andrew Tridgell
parent d1dcfd91b5
commit e5de148ad1
1 changed files with 6 additions and 2 deletions
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8
libraries/AP_BattMonitor/AP_BattMonitor.cpp
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@ -77,7 +77,6 @@ const AP_Param::GroupInfo AP_BattMonitor::var_info[] = {
//
AP_BattMonitor::AP_BattMonitor(uint32_t log_battery_bit, battery_failsafe_handler_fn_t battery_failsafe_handler_fn, const int8_t *failsafe_priorities) :
_log_battery_bit(log_battery_bit),
_num_instances(0),
_battery_failsafe_handler_fn(battery_failsafe_handler_fn),
_failsafe_priorities(failsafe_priorities)
{
@ -557,11 +556,16 @@ void AP_BattMonitor::checkPoweringOff(void)
*/
bool AP_BattMonitor::reset_remaining(uint16_t battery_mask, float percentage)
{
static_assert(AP_BATT_MONITOR_MAX_INSTANCES <= 16, "More batteries are enabled then can be reset");
bool ret = true;
Failsafe highest_failsafe = Failsafe::None;
for (uint8_t i = 0; i < _num_instances; i++) {
if ((1U<<i) & battery_mask) {
ret &= drivers[i]->reset_remaining(percentage);
if (drivers[i] != nullptr) {
ret &= drivers[i]->reset_remaining(percentage);
} else {
ret = false;
}
}
if (state[i].failsafe > highest_failsafe) {
highest_failsafe = state[i].failsafe;