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GCS_MAVLINK: fixed FPE in DO_SET_ROI

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this prevents a floating point exception when MissionPlanner sends an
invalid DO_SET_ROI

See https://github.com/ArduPilot/MissionPlanner/issues/2528
This commit is contained in:
Andrew Tridgell 2020-12-28 08:05:05 +11:00 committed by Peter Barker
parent 3df1bd84e1
commit e6c5382a28
1 changed files with 4 additions and 4 deletions
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8
libraries/GCS_MAVLink/GCS_Common.cpp
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@ -4158,7 +4158,7 @@ MAV_RESULT GCS_MAVLINK::handle_command_do_set_roi(const mavlink_command_int_t &p
const Location roi_loc {
packet.x,
packet.y,
(int32_t)(packet.z * 100.0f),
(int32_t)constrain_float(packet.z * 100.0f,INT32_MIN,INT32_MAX),
frame
};
return handle_command_do_set_roi(roi_loc);
@ -4173,9 +4173,9 @@ MAV_RESULT GCS_MAVLINK::handle_command_do_set_roi(const mavlink_command_long_t &
// support the extra fields).
const Location roi_loc {
(int32_t)(packet.param5 * 1.0e7f),
(int32_t)(packet.param6 * 1.0e7f),
(int32_t)(packet.param7 * 100.0f),
(int32_t)constrain_float(packet.param5 * 1.0e7f, INT32_MIN, INT32_MAX),
(int32_t)constrain_float(packet.param6 * 1.0e7f, INT32_MIN, INT32_MAX),
(int32_t)constrain_float(packet.param7 * 100.0f, INT32_MIN, INT32_MAX),
Location::AltFrame::ABOVE_HOME
};
return handle_command_do_set_roi(roi_loc);