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AP_BattMonitor: add array and null check to drivers[]

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This commit is contained in:
Tom Pittenger 2023-02-23 10:08:22 -08:00 committed by Tom Pittenger
parent 61b7f6ed74
commit e728f91798
1 changed files with 9 additions and 10 deletions
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19
libraries/AP_BattMonitor/AP_BattMonitor.cpp
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@ -506,14 +506,13 @@ float AP_BattMonitor::voltage_resting_estimate(uint8_t instance) const
/// voltage - returns battery voltage in volts for GCS, may be resting voltage if option enabled
float AP_BattMonitor::gcs_voltage(uint8_t instance) const
{
if (instance >= _num_instances || drivers[instance] == nullptr) {
return 0.0f;
}
if (drivers[instance]->option_is_set(AP_BattMonitor_Params::Options::GCS_Resting_Voltage)) {
return voltage_resting_estimate(instance);
}
if (instance < _num_instances) {
return state[instance].voltage;
} else {
return 0.0f;
}
return state[instance].voltage;
}
/// current_amps - returns the instantaneous current draw in amperes
@ -678,7 +677,7 @@ const AP_BattMonitor::cells & AP_BattMonitor::get_cell_voltages(const uint8_t in
// returns true if there is a temperature reading
bool AP_BattMonitor::get_temperature(float &temperature, const uint8_t instance) const
{
if (instance >= AP_BATT_MONITOR_MAX_INSTANCES || drivers[instance] == nullptr) {
if (instance >= _num_instances || drivers[instance] == nullptr) {
return false;
}
@ -698,7 +697,7 @@ bool AP_BattMonitor::get_temperature(float &temperature, const uint8_t instance)
// return true when successfully setting a battery temperature from an external source by instance
bool AP_BattMonitor::set_temperature(const float temperature, const uint8_t instance)
{
if (instance >= AP_BATT_MONITOR_MAX_INSTANCES || drivers[instance] == nullptr) {
if (instance >= _num_instances || drivers[instance] == nullptr) {
return false;
}
state[instance].temperature_external = temperature;
@ -722,7 +721,7 @@ bool AP_BattMonitor::set_temperature_by_serial_number(const float temperature, c
// return true if cycle count can be provided and fills in cycles argument
bool AP_BattMonitor::get_cycle_count(uint8_t instance, uint16_t &cycles) const
{
if (instance >= AP_BATT_MONITOR_MAX_INSTANCES || (drivers[instance] == nullptr)) {
if (instance >= _num_instances || (drivers[instance] == nullptr)) {
return false;
}
return drivers[instance]->get_cycle_count(cycles);
@ -732,7 +731,7 @@ bool AP_BattMonitor::arming_checks(size_t buflen, char *buffer) const
{
char temp_buffer[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN+1] {};
for (uint8_t i = 0; i < AP_BATT_MONITOR_MAX_INSTANCES; i++) {
for (uint8_t i = 0; i < _num_instances; i++) {
if (drivers[i] != nullptr && !(drivers[i]->arming_checks(temp_buffer, sizeof(temp_buffer)))) {
hal.util->snprintf(buffer, buflen, "Battery %d %s", i + 1, temp_buffer);
return false;
@ -830,7 +829,7 @@ MAV_BATTERY_CHARGE_STATE AP_BattMonitor::get_mavlink_charge_state(const uint8_t
// Returns mavlink fault state
uint32_t AP_BattMonitor::get_mavlink_fault_bitmask(const uint8_t instance) const
{
if (drivers[instance] == nullptr) {
if (instance >= _num_instances || drivers[instance] == nullptr) {
return 0;
}
return drivers[instance]->get_mavlink_fault_bitmask();