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MC att control: Harden against incorrect indices

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Lorenz Meier 2017-01-17 11:59:45 +01:00
parent 905c091f8c
commit 00d26b75e9
1 changed files with 5 additions and 3 deletions
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8
src/modules/mc_att_control/mc_att_control_main.cpp
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@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2013-2015 PX4 Development Team. All rights reserved.
* Copyright (c) 2013-2017 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@ -828,7 +828,9 @@ MulticopterAttitudeControl::sensor_correction_poll()
}
/* update the latest gyro selection */
_selected_gyro = _sensor_correction.gyro_select;
if (_sensor_correction.gyro_select <= sizeof(_sensor_gyro_sub) / sizeof(_sensor_gyro_sub[0])) {
_selected_gyro = _sensor_correction.gyro_select;
}
}
/**
@ -985,7 +987,7 @@ MulticopterAttitudeControl::control_attitude_rates(float dt)
// get the raw gyro data and correct for thermal errors
math::Vector<3> rates(_sensor_gyro.x * _sensor_correction.gyro_scale[0] + _sensor_correction.gyro_offset[0],
_sensor_gyro.y * _sensor_correction.gyro_scale[1] + _sensor_correction.gyro_offset[1] ,
_sensor_gyro.y * _sensor_correction.gyro_scale[1] + _sensor_correction.gyro_offset[1],
_sensor_gyro.z * _sensor_correction.gyro_scale[2] + _sensor_correction.gyro_offset[2]);
// rotate corrected measurements from sensor to body frame