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fix: ensure esc count does not exceed maximum number of ESCs

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Pedro-Roque
2025-12-10 15:57:56 -08:00
parent d1c6e7f111
commit d093115534
1 changed files with 1 additions and 1 deletions
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src/modules/simulation/gz_bridge/GZMixingInterfaceESC.cpp
+1 -1
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@@ -109,9 +109,9 @@ void GZMixingInterfaceESC::motorSpeedCallback(const gz::msgs::Actuators &actuato
pthread_mutex_lock(&_node_mutex);
esc_status_s esc_status{};
esc_status.esc_count = actuators.velocity_size();
// Limit to max supported ESCs while allowing for a larger number of system actuators
int actuators_size = math::min(actuators.velocity_size(), static_cast<int>(esc_status_s::CONNECTED_ESC_MAX));
esc_status.esc_count = actuators_size;
for (int i = 0; i < actuators_size; i++) {
esc_status.esc[i].timestamp = hrt_absolute_time();