From d093115534234331795ee738d76b49bdada5c284 Mon Sep 17 00:00:00 2001 From: Pedro-Roque Date: Wed, 10 Dec 2025 15:57:56 -0800 Subject: [PATCH] fix: ensure esc count does not exceed maximum number of ESCs --- src/modules/simulation/gz_bridge/GZMixingInterfaceESC.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/simulation/gz_bridge/GZMixingInterfaceESC.cpp b/src/modules/simulation/gz_bridge/GZMixingInterfaceESC.cpp index 507d2e3e9b..d892869527 100644 --- a/src/modules/simulation/gz_bridge/GZMixingInterfaceESC.cpp +++ b/src/modules/simulation/gz_bridge/GZMixingInterfaceESC.cpp @@ -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(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();