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mc_att_control: fix out-of-bounds access if system has multiple gyros

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Beat Küng 2017-01-19 08:32:56 +01:00 committed by Lorenz Meier
parent ab9e0aa524
commit 21a3e4d36a
1 changed files with 1 additions and 1 deletions
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2
src/modules/mc_att_control/mc_att_control_main.cpp
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@ -1089,7 +1089,7 @@ MulticopterAttitudeControl::task_main()
_motor_limits_sub = orb_subscribe(ORB_ID(multirotor_motor_limits));
_battery_status_sub = orb_subscribe(ORB_ID(battery_status));
_gyro_count = orb_group_count(ORB_ID(sensor_gyro));
_gyro_count = math::min(orb_group_count(ORB_ID(sensor_gyro)), MAX_GYRO_COUNT);
for (unsigned s = 0; s < _gyro_count; s++) {
_sensor_gyro_sub[s] = orb_subscribe_multi(ORB_ID(sensor_gyro), s);