From 77187cd7e2c17a183139fc069672bb16145d28ea Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Tue, 25 Jun 2019 12:56:55 +1000 Subject: [PATCH] Tracker: add sanity check when fetching GCS_MAVLink instance --- AntennaTracker/GCS_Tracker.h | 16 ++++++++++++++-- 1 file changed, 14 insertions(+), 2 deletions(-) diff --git a/AntennaTracker/GCS_Tracker.h b/AntennaTracker/GCS_Tracker.h index bc21efc164..7556c3f39a 100644 --- a/AntennaTracker/GCS_Tracker.h +++ b/AntennaTracker/GCS_Tracker.h @@ -14,8 +14,20 @@ public: uint8_t num_gcs() const override { return ARRAY_SIZE(_chan); }; // return GCS link at offset ofs - GCS_MAVLINK_Tracker &chan(const uint8_t ofs) override { return _chan[ofs]; }; - const GCS_MAVLINK_Tracker &chan(const uint8_t ofs) const override { return _chan[ofs]; }; + GCS_MAVLINK_Tracker &chan(uint8_t ofs) override { + if (ofs >= num_gcs()) { + AP::internalerror().error(AP_InternalError::error_t::gcs_offset); + ofs = 0; + } + return _chan[ofs]; + } + const GCS_MAVLINK_Tracker &chan(uint8_t ofs) const override { + if (ofs >= num_gcs()) { + AP::internalerror().error(AP_InternalError::error_t::gcs_offset); + ofs = 0; + } + return _chan[ofs]; + } void update_vehicle_sensor_status_flags() override;