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Fix pointer arithmetic in EKF logging

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* sizeof returns byte, but buf.estimator_status.states and
  buf.estimator_status.covariances are float pointers
This commit is contained in:
Peter Duerr 2015-12-04 14:05:00 +09:00 committed by Lorenz Meier
parent d45634a308
commit b44cf06ace
1 changed files with 2 additions and 2 deletions
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4
src/modules/sdlog2/sdlog2.c
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@ -1793,7 +1793,7 @@ int sdlog2_thread_main(int argc, char *argv[])
log_msg.msg_type = LOG_EST1_MSG;
unsigned maxcopy1 = ((sizeof(buf.estimator_status.states) - maxcopy0) < sizeof(log_msg.body.log_EST1.s)) ? (sizeof(buf.estimator_status.states) - maxcopy0) : sizeof(log_msg.body.log_EST1.s);
memset(&(log_msg.body.log_EST1.s), 0, sizeof(log_msg.body.log_EST1.s));
memcpy(&(log_msg.body.log_EST1.s), buf.estimator_status.states + maxcopy0, maxcopy1);
memcpy(&(log_msg.body.log_EST1.s), ((char*)buf.estimator_status.states) + maxcopy0, maxcopy1);
LOGBUFFER_WRITE_AND_COUNT(EST1);
log_msg.msg_type = LOG_EST2_MSG;
@ -1805,7 +1805,7 @@ int sdlog2_thread_main(int argc, char *argv[])
log_msg.msg_type = LOG_EST3_MSG;
unsigned maxcopy3 = ((sizeof(buf.estimator_status.covariances) - maxcopy2) < sizeof(log_msg.body.log_EST3.cov)) ? (sizeof(buf.estimator_status.covariances) - maxcopy2) : sizeof(log_msg.body.log_EST3.cov);
memset(&(log_msg.body.log_EST3.cov), 0, sizeof(log_msg.body.log_EST3.cov));
memcpy(&(log_msg.body.log_EST3.cov), buf.estimator_status.covariances + maxcopy2, maxcopy3);
memcpy(&(log_msg.body.log_EST3.cov), ((char*)buf.estimator_status.covariances) + maxcopy2, maxcopy3);
LOGBUFFER_WRITE_AND_COUNT(EST3);
}