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fix(airspeed_selector): fix OOB array access

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The array access

    _airspeed_validator[valid_airspeed_index - 1]

is only valid if valid_airspeed_index > 0. After an airspeed failure, we
have valid_airspeed_index = -1 (see AirspeedSource enum definition) and
are thus accessing array element -2. This is UB and pollutes the log
(and potentially other modules) with garbage values.

Fix: Like already done for other fields, we initialise the values with
NaN and only populate (using the array access) when the airspeed source
is a real sensor, and thus valid.
This commit is contained in:
Balduin
2026-04-07 09:42:09 +02:00
parent b48f3ef6f7
commit e343137b7f
1 changed files with 4 additions and 3 deletions
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src/modules/airspeed_selector/airspeed_selector_main.cpp
+4 -3
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@@ -751,11 +751,10 @@ void AirspeedModule::select_airspeed_and_publish()
airspeed_validated.indicated_airspeed_m_s = NAN;
airspeed_validated.calibrated_airspeed_m_s = NAN;
airspeed_validated.true_airspeed_m_s = NAN;
airspeed_validated.airspeed_derivative_filtered = NAN;
airspeed_validated.pitch_filtered = NAN;
airspeed_validated.airspeed_derivative_filtered = _airspeed_validator[valid_airspeed_index -
1].get_airspeed_derivative();
airspeed_validated.throttle_filtered = _throttle_filtered.getState();
airspeed_validated.pitch_filtered = _airspeed_validator[valid_airspeed_index - 1].get_pitch_filtered();
airspeed_validated.airspeed_source = valid_airspeed_index;
_prev_airspeed_src = _valid_airspeed_src;
@@ -791,6 +790,8 @@ void AirspeedModule::select_airspeed_and_publish()
airspeed_validated.true_airspeed_m_s = _airspeed_validator[valid_airspeed_index - 1].get_TAS();
airspeed_validated.calibrated_ground_minus_wind_m_s = _ground_minus_wind_CAS;
airspeed_validated.calibraded_airspeed_synth_m_s = get_synthetic_airspeed(airspeed_validated.throttle_filtered);
airspeed_validated.airspeed_derivative_filtered = _airspeed_validator[valid_airspeed_index - 1].get_airspeed_derivative();
airspeed_validated.pitch_filtered = _airspeed_validator[valid_airspeed_index - 1].get_pitch_filtered();
break;
}