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UTM_GLOBAL_POSITION: prevent uint16 overflow 

Signed-off-by: RomanBapst <bapstroman@gmail.com>
This commit is contained in:
RomanBapst 2023-09-21 14:06:41 +03:00 committed by Daniel Agar
parent be56f74c1d
commit 4f1682c3c8
1 changed files with 2 additions and 2 deletions
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4
src/modules/mavlink/streams/UTM_GLOBAL_POSITION.hpp
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@ -101,8 +101,8 @@ private:
msg.lon = global_pos.lon * 1e7; msg.lon = global_pos.lon * 1e7;
msg.alt = global_pos.alt_ellipsoid * 1000.f; msg.alt = global_pos.alt_ellipsoid * 1000.f;
msg.h_acc = global_pos.eph * 1000.f; msg.h_acc = math::min(global_pos.eph * 1000.0f, (float)UINT16_MAX);
msg.v_acc = global_pos.epv * 1000.f; msg.v_acc = math::min(global_pos.epv * 1000.0f, (float)UINT16_MAX);
msg.flags |= UTM_DATA_AVAIL_FLAGS_POSITION_AVAILABLE; msg.flags |= UTM_DATA_AVAIL_FLAGS_POSITION_AVAILABLE;
msg.flags |= UTM_DATA_AVAIL_FLAGS_ALTITUDE_AVAILABLE; msg.flags |= UTM_DATA_AVAIL_FLAGS_ALTITUDE_AVAILABLE;