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AirspeedSelector: make sure we don't try to access a negative array index 

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer 2021-10-13 18:55:47 +02:00
parent ccab93e68b
commit f6d37ecacf
1 changed files with 12 additions and 2 deletions
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14
src/modules/airspeed_selector/airspeed_selector_main.cpp
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@ -537,10 +537,20 @@ void AirspeedModule::update_ground_minus_wind_airspeed()
void AirspeedModule::select_airspeed_and_publish()
{
const bool airspeed_sensor_switching_necessary = _prev_airspeed_index < airspeed_index::FIRST_SENSOR_INDEX ||
!_airspeed_validator[_prev_airspeed_index - 1].get_airspeed_valid();
// we need to re-evaluate the sensors if we're currently not on a phyisical sensor or the current sensor got invalid
bool airspeed_sensor_switching_necessary = false;
if (_prev_airspeed_index < airspeed_index::FIRST_SENSOR_INDEX) {
airspeed_sensor_switching_necessary = true;
} else {
airspeed_sensor_switching_necessary = !_airspeed_validator[_prev_airspeed_index - 1].get_airspeed_valid();
}
const bool airspeed_sensor_switching_allowed = _number_of_airspeed_sensors > 0 &&
_param_airspeed_primary_index.get() > airspeed_index::GROUND_MINUS_WIND_INDEX && _param_airspeed_checks_on.get();
const bool airspeed_sensor_added = _prev_number_of_airspeed_sensors < _number_of_airspeed_sensors;
if (airspeed_sensor_switching_necessary && (airspeed_sensor_switching_allowed || airspeed_sensor_added)) {