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ActuatorEffectivenessRotors: fix motor count check

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Check during init to avoid out-of-bound access.
This commit is contained in:
Beat Küng
2022-04-28 13:30:55 +02:00
parent 15296ab453
commit 9f5c5591a2
1 changed files with 2 additions and 2 deletions
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src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessRotors.cpp
+2 -2
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@@ -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;