fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-19 07:33:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

Remove unsafe access to .data() and _data in Matrix

Browse Source
This commit is contained in:
Julian Kent
2019-09-18 22:01:36 -04:00
committed by Daniel Agar
parent 78bf12f0db
commit 2d4ecab3b0
8 changed files with 29 additions and 21 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/sensors/voted_sensors_update.cpp
+5 -3
View File
@@ -778,7 +778,8 @@ void VotedSensorsUpdate::magPoll(vehicle_magnetometer_s &magnetometer)
_last_magnetometer[uorb_index].magnetometer_ga[1] = vect(1);
_last_magnetometer[uorb_index].magnetometer_ga[2] = vect(2);
_mag.voter.put(uorb_index, mag_report.timestamp, vect.data(), mag_report.error_count, _mag.priority[uorb_index]);
_mag.voter.put(uorb_index, mag_report.timestamp, _last_magnetometer[uorb_index].magnetometer_ga, mag_report.error_count,
_mag.priority[uorb_index]);
}
}
@@ -834,13 +835,14 @@ void VotedSensorsUpdate::baroPoll(vehicle_air_data_s &airdata)
_baro_device_id[uorb_index] = baro_report.device_id;
got_update = true;
Vector3f vect(baro_report.pressure, baro_report.temperature, 0.f);
float vect[3] = {baro_report.pressure, baro_report.temperature, 0.f};
_last_airdata[uorb_index].timestamp = baro_report.timestamp;
_last_airdata[uorb_index].baro_temp_celcius = baro_report.temperature;
_last_airdata[uorb_index].baro_pressure_pa = corrected_pressure;
_baro.voter.put(uorb_index, baro_report.timestamp, vect.data(), baro_report.error_count, _baro.priority[uorb_index]);
_baro.voter.put(uorb_index, baro_report.timestamp, vect, baro_report.error_count, _baro.priority[uorb_index]);
}
}