From 8087fac3fc4090c25aef608ab7cce634c1f25e81 Mon Sep 17 00:00:00 2001 From: bazooka joe Date: Fri, 5 Feb 2021 14:59:07 +0200 Subject: [PATCH] gps_blending add protection against accessing non-exist array item --- src/modules/sensors/vehicle_gps_position/gps_blending.hpp | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/src/modules/sensors/vehicle_gps_position/gps_blending.hpp b/src/modules/sensors/vehicle_gps_position/gps_blending.hpp index 217b002a01..e137dd9324 100644 --- a/src/modules/sensors/vehicle_gps_position/gps_blending.hpp +++ b/src/modules/sensors/vehicle_gps_position/gps_blending.hpp @@ -67,8 +67,10 @@ public: void setGpsData(const sensor_gps_s &gps_data, int instance) { - _gps_state[instance] = gps_data; - _gps_updated[instance] = true; + if (instance < GPS_MAX_RECEIVERS_BLEND) { + _gps_state[instance] = gps_data; + _gps_updated[instance] = true; + } } void setBlendingUseSpeedAccuracy(bool enabled) { _blend_use_spd_acc = enabled; } void setBlendingUseHPosAccuracy(bool enabled) { _blend_use_hpos_acc = enabled; }