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mavlink: add protection against setting wrong type of parameters

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BazookaJoe1900
2019-10-14 11:18:08 -04:00
committed by Daniel Agar
parent 5324c37d04
commit 3007b0876c
1 changed files with 6 additions and 0 deletions
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src/modules/mavlink/mavlink_parameters.cpp
+6
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@@ -123,6 +123,12 @@ MavlinkParametersManager::handle_message(const mavlink_message_t *msg)
sprintf(buf, "[pm] unknown param: %s", name);
_mavlink->send_statustext_info(buf);
} else if (!((param_type(param) == PARAM_TYPE_INT32 && set.param_type == MAV_PARAM_TYPE_INT32) ||
(param_type(param) == PARAM_TYPE_FLOAT && set.param_type == MAV_PARAM_TYPE_REAL32))) {
char buf[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN];
sprintf(buf, "[pm] param types mismatch param: %s", name);
_mavlink->send_statustext_info(buf);
} else {
// According to the mavlink spec we should always acknowledge a write operation.
param_set(param, &(set.param_value));