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mavlink: avoid sending uninitialized data

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_global_pos_sub->update(&_global_pos_time, &global_pos); could return
false and in that case global_pos was not set but still accessed.

This is prevented by checking if timestamp == 0.
This commit is contained in:
Beat Küng
2016-12-20 14:50:09 +01:00
committed by Lorenz Meier
parent c662113527
commit 08dc3decb1
1 changed files with 9 additions and 5 deletions
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src/modules/mavlink/mavlink_messages.cpp
+9 -5
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@@ -3381,10 +3381,14 @@ protected:
{ {
struct vehicle_global_position_s global_pos; struct vehicle_global_position_s global_pos;
updated |= _global_pos_sub->update(&_global_pos_time, &global_pos); updated |= _global_pos_sub->update(&_global_pos_time, &global_pos);
msg.altitude_amsl = (_global_pos_time > 0) ? global_pos.alt : NAN; if (_global_pos_time != 0) {
global_alt = global_pos.alt; msg.altitude_amsl = global_pos.alt;
global_alt = global_pos.alt;
} else {
msg.altitude_amsl = NAN;
}
if (global_pos.terrain_alt_valid) { if (_global_pos_time != 0 && global_pos.terrain_alt_valid) {
msg.altitude_terrain = global_pos.terrain_alt; msg.altitude_terrain = global_pos.terrain_alt;
msg.bottom_clearance = global_pos.alt - global_pos.terrain_alt; msg.bottom_clearance = global_pos.alt - global_pos.terrain_alt;
@@ -3416,10 +3420,10 @@ protected:
struct home_position_s home; struct home_position_s home;
updated |= _home_sub->update(&_home_time, &home); updated |= _home_sub->update(&_home_time, &home);
if (_global_pos_time > 0 and _home_time > 0) { if (_global_pos_time > 0 && _home_time > 0) {
msg.altitude_relative = global_alt - home.alt; msg.altitude_relative = global_alt - home.alt;
} else if (_local_pos_time > 0 and _home_time > 0) { } else if (_local_pos_time > 0 && _home_time > 0) {
msg.altitude_relative = msg.altitude_local; msg.altitude_relative = msg.altitude_local;
} else { } else {