From 21a3e4d36a40d52fce6a531fcc32cb3d34ed100a Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Beat=20K=C3=BCng?= Date: Thu, 19 Jan 2017 08:32:56 +0100 Subject: [PATCH] mc_att_control: fix out-of-bounds access if system has multiple gyros --- src/modules/mc_att_control/mc_att_control_main.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/mc_att_control/mc_att_control_main.cpp b/src/modules/mc_att_control/mc_att_control_main.cpp index 5e04b591b4..b3d95c7fd1 100644 --- a/src/modules/mc_att_control/mc_att_control_main.cpp +++ b/src/modules/mc_att_control/mc_att_control_main.cpp @@ -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);