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Improved hardpoint command handling

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This commit is contained in:
Pavel Kirienko
2016-03-14 09:07:46 +01:00
committed by Lorenz Meier
parent 7b83e828b8
commit 1ac88ec034
1 changed files with 5 additions and 8 deletions
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src/modules/uavcan/uavcan_main.cpp
+5 -8
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@@ -1385,19 +1385,16 @@ int uavcan_main(int argc, char *argv[])
const int command = atoi(argv[4]); const int command = atoi(argv[4]);
// Sanity check - weed out negative values, check against maximums // Sanity check - weed out negative values, check against maximums
if (hardpoint_id >= 0 && if (hardpoint_id >= 0 && hardpoint_id < 256 &&
hardpoint_id < 256 && command >= 0 && command < 65536) {
command >= 0 &&
command < 65536) {
inst->hardpoint_controller_set((uint8_t) hardpoint_id, (uint16_t) command); inst->hardpoint_controller_set((uint8_t) hardpoint_id, (uint16_t) command);
} else { } else {
errx(1, "Are you nuts?"); errx(1, "Invalid argument");
} }
} else { } else {
errx(1, "Are you nuts?"); errx(1, "Invalid hardpoint command");
} }
::exit(0);
} }
if (!std::strcmp(argv[1], "stop")) { if (!std::strcmp(argv[1], "stop")) {