From 9f5c5591a25ce69fc900482093dfdd86f9c00be3 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Beat=20K=C3=BCng?= <beat-kueng@gmx.net>
Date: Thu, 28 Apr 2022 13:30:55 +0200
Subject: [PATCH] ActuatorEffectivenessRotors: fix motor count check

Check during init to avoid out-of-bound access.
---
 .../ActuatorEffectiveness/ActuatorEffectivenessRotors.cpp     | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessRotors.cpp b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessRotors.cpp
index ae7b65b2a3..525a986eb5 100644
--- a/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessRotors.cpp
+++ b/src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessRotors.cpp
@@ -95,7 +95,7 @@ void ActuatorEffectivenessRotors::updateParams()
 		return;
 	}
 
-	_geometry.num_rotors = count;
+	_geometry.num_rotors = math::min(NUM_ROTORS_MAX, (int)count);
 
 	for (int i = 0; i < _geometry.num_rotors; ++i) {
 		Vector3f &position = _geometry.rotors[i].position;
@@ -156,7 +156,7 @@ ActuatorEffectivenessRotors::computeEffectivenessMatrix(const Geometry &geometry
 {
 	int num_actuators = 0;
 
-	for (int i = 0; i < math::min(NUM_ROTORS_MAX, geometry.num_rotors); i++) {
+	for (int i = 0; i < geometry.num_rotors; i++) {
 
 		if (i + actuator_start_index >= NUM_ACTUATORS) {
 			break;