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mavlink: don't read garbage target sysid/compid

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This fixes a tricky bug that we discovered in MAVSDK:
https://github.com/mavlink/MAVSDK/pull/1464

It turns out the target_system and target_component fields can
potentially be:
1. at the end of a message payload,
2. and zero,

and therefore they get trimmed. When you then try to read it you
potentially read some garbage from the CRC fields.
This commit is contained in:
Julian Oes
2021-06-09 18:17:40 +02:00
committed by Daniel Agar
parent 6bc09138c1
commit ca86416ce6
1 changed files with 6 additions and 2 deletions
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src/modules/mavlink/mavlink_main.cpp
+6 -2
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@@ -393,11 +393,15 @@ Mavlink::forward_message(const mavlink_message_t *msg, Mavlink *self)
if (meta) {
// Extract target system and target component if set
if (meta->flags & MAV_MSG_ENTRY_FLAG_HAVE_TARGET_SYSTEM) {
target_system_id = (_MAV_PAYLOAD(msg))[meta->target_system_ofs];
if (meta->target_system_ofs < msg->len) {
target_system_id = (_MAV_PAYLOAD(msg))[meta->target_system_ofs];
}
}
if (meta->flags & MAV_MSG_ENTRY_FLAG_HAVE_TARGET_COMPONENT) {
target_component_id = (_MAV_PAYLOAD(msg))[meta->target_component_ofs];
if (meta->target_component_ofs < msg->len) {
target_component_id = (_MAV_PAYLOAD(msg))[meta->target_component_ofs];
}
}
}