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mavlink: avoid sending uninitialized data 

_global_pos_sub->update(&_global_pos_time, &global_pos); could return
false and in that case global_pos was not set but still accessed.

This is prevented by checking if timestamp == 0.
This commit is contained in:
Beat Küng 2016-12-20 14:50:09 +01:00 committed by Lorenz Meier
parent c662113527
commit 08dc3decb1
1 changed files with 9 additions and 5 deletions
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14
src/modules/mavlink/mavlink_messages.cpp
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@ -3381,10 +3381,14 @@ protected:
{
struct vehicle_global_position_s global_pos;
updated |= _global_pos_sub->update(&_global_pos_time, &global_pos);
msg.altitude_amsl = (_global_pos_time > 0) ? global_pos.alt : NAN;
global_alt = global_pos.alt;
if (_global_pos_time != 0) {
msg.altitude_amsl = global_pos.alt;
global_alt = global_pos.alt;
} else {
msg.altitude_amsl = NAN;
}
if (global_pos.terrain_alt_valid) {
if (_global_pos_time != 0 && global_pos.terrain_alt_valid) {
msg.altitude_terrain = global_pos.terrain_alt;
msg.bottom_clearance = global_pos.alt - global_pos.terrain_alt;
@ -3416,10 +3420,10 @@ protected:
struct home_position_s home;
updated |= _home_sub->update(&_home_time, &home);
if (_global_pos_time > 0 and _home_time > 0) {
if (_global_pos_time > 0 && _home_time > 0) {
msg.altitude_relative = global_alt - home.alt;
} else if (_local_pos_time > 0 and _home_time > 0) {
} else if (_local_pos_time > 0 && _home_time > 0) {
msg.altitude_relative = msg.altitude_local;
} else {