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sensors: ensure that best accel/gyro is in bounds

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This commit is contained in:
Daniel Agar
2022-02-02 17:14:46 -05:00
parent 07c273fc31
commit 138ff7a316
1 changed files with 3 additions and 1 deletions
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src/modules/sensors/voted_sensors_update.cpp
+3 -1
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@@ -219,7 +219,9 @@ void VotedSensorsUpdate::imuPoll(struct sensor_combined_s &raw)
}
// write data for the best sensor to output variables
if ((accel_best_index >= 0) && (gyro_best_index >= 0)) {
if ((accel_best_index >= 0) && (accel_best_index < MAX_SENSOR_COUNT)
&& (gyro_best_index >= 0) && (gyro_best_index < MAX_SENSOR_COUNT)) {
raw.timestamp = _last_sensor_data[gyro_best_index].timestamp;
memcpy(&raw.accelerometer_m_s2, &_last_sensor_data[accel_best_index].accelerometer_m_s2,
sizeof(raw.accelerometer_m_s2));