AP_DAL: correct rangefinder get_backend range check

4 years ago · 54bae68e02
1 changed files with 4 additions and 1 deletions
--- a/libraries/AP_DAL/AP_DAL_RangeFinder.cpp
+++ b/libraries/AP_DAL/AP_DAL_RangeFinder.cpp
@ -116,7 +116,10 @@ bool AP_DAL_RangeFinder::has_orientation(enum Rotation orientation) const
				@@ -116,7 +116,10 @@ bool AP_DAL_RangeFinder::has_orientation(enum Rotation orientation) const
 AP_DAL_RangeFinder_Backend *AP_DAL_RangeFinder::get_backend(uint8_t id) const
 {
   if (id >= RANGEFINDER_MAX_INSTANCES) {
-        INTERNAL_ERROR(AP_InternalError::error_t::flow_of_control);
+       INTERNAL_ERROR(AP_InternalError::error_t::flow_of_control);
+       return nullptr;
+   }
+   if (id >= _RRNH.num_sensors) {
        return nullptr;
    }