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Helicopter mixer: Fix out of bounds checks

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Lorenz Meier 2017-01-14 14:14:52 +01:00
parent 4939e42c0f
commit fc2970b309
1 changed files with 7 additions and 3 deletions
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10
src/modules/systemlib/mixer/mixer_helicopter.cpp
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@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2012-2016 PX4 Development Team. All rights reserved.
* Copyright (c) 2012-2017 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@ -243,9 +243,13 @@ HelicopterMixer::mix(float *outputs, unsigned space, uint16_t *status_reg)
int idx = (thrust_cmd / 0.25f);
/* Make sure idx is in range */
if (idx < 0) { idx = 0; }
if (idx < 0) {
idx = 0;
if (idx > HELI_CURVES_NR_POINTS - 1) { idx = HELI_CURVES_NR_POINTS - 1; }
} else if (idx > HELI_CURVES_NR_POINTS - 2) {
/* We access idx + 1 below, so max legal index is (size - 2) */
idx = HELI_CURVES_NR_POINTS - 2;
}
/* Local throttle curve gradient and offset */
float tg = (_mixer_info.throttle_curve[idx + 1] - _mixer_info.throttle_curve[idx]) / 0.25f;