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manual_control: add check for instance

This commit is contained in:
Julian Oes 2021-06-16 09:43:07 +02:00 committed by Matthias Grob
parent 963d15eacc
commit 50cca204d8
1 changed files with 7 additions and 1 deletions
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8
src/modules/manual_control/ManualControl.cpp
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@ -267,7 +267,13 @@ void ManualControl::Run()
_selector.setpoint().timestamp = now;
_manual_control_setpoint_pub.publish(_selector.setpoint());
_manual_control_input_subs[_selector.instance()].registerCallback();
// If it's valid, this should really be valid but better safe than sorry.
const int instance = _selector.instance();
if (instance >= 0 && instance < MAX_MANUAL_INPUT_COUNT) {
_manual_control_input_subs[instance].registerCallback();
}
_manual_control_switches_sub.registerCallback();
} else {