From 2af066bc6aa5c3fe5b4e9a676c31be6462c995fd Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Mon, 28 Dec 2015 11:14:03 +0100 Subject: [PATCH] guard against invalid yawmode values --- src/modules/navigator/mission.cpp | 3 ++- src/modules/navigator/mission.h | 3 ++- 2 files changed, 4 insertions(+), 2 deletions(-) diff --git a/src/modules/navigator/mission.cpp b/src/modules/navigator/mission.cpp index 299b69b3d0..ab8e43add4 100644 --- a/src/modules/navigator/mission.cpp +++ b/src/modules/navigator/mission.cpp @@ -189,8 +189,9 @@ Mission::on_active() } /* see if we need to update the current yaw heading for rotary wing types */ - if (_navigator->get_vstatus()->is_rotary_wing + if (_navigator->get_vstatus()->is_rotary_wing && _param_yawmode.get() != MISSION_YAWMODE_NONE + && _param_yawmode.get() < MISSION_YAWMODE_MAX && _mission_type != MISSION_TYPE_NONE) { heading_sp_update(); } diff --git a/src/modules/navigator/mission.h b/src/modules/navigator/mission.h index b0117cf1fe..c8a34132de 100644 --- a/src/modules/navigator/mission.h +++ b/src/modules/navigator/mission.h @@ -88,7 +88,8 @@ public: MISSION_YAWMODE_NONE = 0, MISSION_YAWMODE_FRONT_TO_WAYPOINT = 1, MISSION_YAWMODE_FRONT_TO_HOME = 2, - MISSION_YAWMODE_BACK_TO_HOME = 3 + MISSION_YAWMODE_BACK_TO_HOME = 3, + MISSION_YAWMODE_MAX = 4 }; private: