From dbb00d500fbde89a6c635aa0dc616ba1c55fb8d9 Mon Sep 17 00:00:00 2001
From: Nick <145654544+ttechnick@users.noreply.github.com>
Date: Mon, 9 Feb 2026 13:35:47 +0100
Subject: [PATCH] Update
 src/modules/commander/failure_detector/FailureDetector.cpp

Prevent Buffer overflow
---
 src/modules/commander/failure_detector/FailureDetector.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/modules/commander/failure_detector/FailureDetector.cpp b/src/modules/commander/failure_detector/FailureDetector.cpp
index b2eed03290..cbba4c68e0 100644
--- a/src/modules/commander/failure_detector/FailureDetector.cpp
+++ b/src/modules/commander/failure_detector/FailureDetector.cpp
@@ -329,7 +329,7 @@ void FailureDetector::updateMotorStatus(const vehicle_status_s &vehicle_status,
 		_failure_detector_status.flags.motor = (_motor_failure_mask != 0u);
 
 	} else { // Disarmed
-		for (uint8_t i = 0; i < actuator_motors_s::NUM_CONTROLS; ++i) {
+		for (uint8_t i = 0; i < esc_status_s::CONNECTED_ESC_MAX; ++i) {
 			_esc_undercurrent_hysteresis[i].set_state_and_update(false, now);
 			_esc_overcurrent_hysteresis[i].set_state_and_update(false, now);
 		}