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Merge pull request #906 from PX4/inair_restart_fix 

Fix in-air restarts, protect against an external MAVLink sender exploiti...
This commit is contained in:
Lorenz Meier 2014-05-06 07:26:44 -07:00
parent 13ad95169f 1d6b9fae03
commit 6c1a035d6b
3 changed files with 31 additions and 4 deletions
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24
src/drivers/px4io/px4io.cpp
View File

@ -683,6 +683,25 @@ PX4IO::init()
/* send command to arm system via command API */
vehicle_command_s cmd;
/* send this to itself */
param_t sys_id_param = param_find("MAV_SYS_ID");
param_t comp_id_param = param_find("MAV_COMP_ID");
int32_t sys_id;
int32_t comp_id;
if (param_get(sys_id_param, &sys_id)) {
errx(1, "PRM SYSID");
}
if (param_get(comp_id_param, &comp_id)) {
errx(1, "PRM CMPID");
}
cmd.target_system = sys_id;
cmd.target_component = comp_id;
cmd.source_system = sys_id;
cmd.source_component = comp_id;
/* request arming */
cmd.param1 = 1.0f;
cmd.param2 = 0;
@ -692,10 +711,7 @@ PX4IO::init()
cmd.param6 = 0;
cmd.param7 = 0;
cmd.command = VEHICLE_CMD_COMPONENT_ARM_DISARM;
// cmd.target_system = status.system_id;
// cmd.target_component = status.component_id;
// cmd.source_system = status.system_id;
// cmd.source_component = status.component_id;
/* ask to confirm command */
cmd.confirmation = 1;

5
src/modules/commander/commander.cpp
View File

@ -484,6 +484,11 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe
if (cmd->param1 != 0.0f && (fabsf(cmd->param1 - 1.0f) > 2.0f * FLT_EPSILON)) {
mavlink_log_info(mavlink_fd, "Unsupported ARM_DISARM parameter: %.6f", cmd->param1);
} else {
// Flick to inair restore first if this comes from an onboard system
if (cmd->source_system == status->system_id && cmd->source_component == status->component_id) {
status->arming_state = ARMING_STATE_IN_AIR_RESTORE;
}
transition_result_t arming_res = arm_disarm(cmd->param1 != 0.0f, mavlink_fd, "arm/disarm component command");
if (arming_res == TRANSITION_DENIED) {
mavlink_log_critical(mavlink_fd, "#audio: REJECTING component arm cmd");

6
src/modules/mavlink/mavlink_receiver.cpp
View File

@ -217,6 +217,12 @@ MavlinkReceiver::handle_message_command_long(mavlink_message_t *msg)
_mavlink->_task_should_exit = true;
} else {
if (msg->sysid == mavlink_system.sysid && msg->compid == mavlink_system.compid) {
warnx("ignoring CMD spoofed with same SYS/COMP ID");
return;
}
struct vehicle_command_s vcmd;
memset(&vcmd, 0, sizeof(vcmd));