Coverity fixes (#1790)

* Various coverity fixes (High Impact Outstanding)

* Removed typo in comment

* Removed wrong line of code.

* Minor fixes

* snprintf finally done right

* Added space

* Wind direction finally OK

sw/airborne/firmwares/fixedwing/fixedwing_datalink.c

@@ -78,22 +78,22 @@ void firmware_parse_msg(void)
     case DL_MOVE_WP: {
       if (DL_MOVE_WP_ac_id(dl_buffer) != AC_ID) { break; }
       uint8_t wp_id = DL_MOVE_WP_wp_id(dl_buffer);
-      float a = MOfMM(DL_MOVE_WP_alt(dl_buffer));
 
       /* Computes from (lat, long) in the referenced UTM zone */
       struct LlaCoor_f lla;
       lla.lat = RadOfDeg((float)(DL_MOVE_WP_lat(dl_buffer) / 1e7));
       lla.lon = RadOfDeg((float)(DL_MOVE_WP_lon(dl_buffer) / 1e7));
+      lla.alt = MOfMM(DL_MOVE_WP_alt(dl_buffer));
       struct UtmCoor_f utm;
       utm.zone = nav_utm_zone0;
       utm_of_lla_f(&utm, &lla);
-      nav_move_waypoint(wp_id, utm.east, utm.north, a);
+      nav_move_waypoint(wp_id, utm.east, utm.north, utm.alt);
 
       /* Waypoint range is limited. Computes the UTM pos back from the relative
          coordinates */
       utm.east = waypoints[wp_id].x + nav_utm_east0;
       utm.north = waypoints[wp_id].y + nav_utm_north0;
-      DOWNLINK_SEND_WP_MOVED(DefaultChannel, DefaultDevice, &wp_id, &utm.east, &utm.north, &a, &nav_utm_zone0);
+      DOWNLINK_SEND_WP_MOVED(DefaultChannel, DefaultDevice, &wp_id, &utm.east, &utm.north, &utm.alt, &nav_utm_zone0);
     }
     break;
 #endif /** NAV */

sw/airborne/firmwares/fixedwing/nav.c

@@ -252,7 +252,6 @@ bool nav_compute_final_from_glide(uint8_t wp_af, uint8_t wp_td, float glide)
 
   waypoints[wp_af].x = waypoints[wp_td].x + x_1 * h_0 * glide;
   waypoints[wp_af].y = waypoints[wp_td].y + y_1 * h_0 * glide;
-  waypoints[wp_af].a = waypoints[wp_af].a;
 
   return false;
 }

sw/airborne/modules/computer_vision/video_thread_nps.c

@@ -66,7 +66,10 @@ void video_thread_periodic(void)
   video_thread.is_running = ! video_thread.is_running;
 #endif
 
-  cv_run_device(NULL,&img);
+  // Calling this function will not work because video_config_t is NULL (?) and img
+  // has no timestamp
+  // Commenting out for now
+  // cv_run_device(NULL,&img);
 
   image_free(&img);
 }

sw/airborne/modules/datalink/mavlink.c

@@ -265,14 +265,16 @@ void mavlink_common_message_handler(const mavlink_message_t *msg)
         cmd.param_index = settings_idx_from_param_id(cmd.param_id);
       }
 
-      mavlink_msg_param_value_send(MAVLINK_COMM_0,
+      // Send message only if the param_index was found (Coverity Scan)
-                                   mavlink_param_names[cmd.param_index],
+      if (cmd.param_index > -1) {
-                                   settings_get_value(cmd.param_index),
+        mavlink_msg_param_value_send(MAVLINK_COMM_0,
-                                   MAV_PARAM_TYPE_REAL32,
+                                     mavlink_param_names[cmd.param_index],
-                                   NB_SETTING,
+                                     settings_get_value(cmd.param_index),
-                                   cmd.param_index);
+                                     MAV_PARAM_TYPE_REAL32,
-      MAVLinkSendMessage();
+                                     NB_SETTING,
-
+                                     cmd.param_index);
+        MAVLinkSendMessage();
+      }
       break;
     }
 

sw/airborne/modules/nav/nav_smooth.c

@@ -160,22 +160,22 @@ static inline float ground_speed_of_course(float x)
 /* Compute the ground speed for courses 0, 360/NB_ANGLES, ...
    (NB_ANGLES-1)360/NB_ANGLES */
 static void compute_ground_speed(float airspeed,
-                                 float wind_x,
+                                 float wind_east,
-                                 float wind_y)
+                                 float wind_north)
 {
   uint8_t i;
   float alpha = 0;
-  float c = wind_x * wind_x + wind_y * wind_y - airspeed * airspeed;
+  float c = wind_north * wind_north + wind_east * wind_east - airspeed * airspeed;
   for (i = 0; i < NB_ANGLES; i++, alpha += ANGLE_STEP) {
     /* g^2 -2 scal g + c = 0 */
-    float scal = wind_x * cos(alpha) + wind_y * sin(alpha);
+    float scal = wind_north * cos(alpha) + wind_east * sin(alpha);
     float delta = 4 * (scal * scal - c);
     ground_speeds[i] = scal + sqrt(delta) / 2.;
     Bound(ground_speeds[i], NOMINAL_AIRSPEED / 4, 2 * NOMINAL_AIRSPEED);
   }
 }
 
-/* Adjusting a circle around CA, tangent in A, to end at snav_desired_tow */
+/* Adjusting a circle around CA, tangent in A, to end at snav_desired_tow */
 bool snav_on_time(float nominal_radius)
 {
   nominal_radius = fabs(nominal_radius);

sw/airborne/modules/nav/nav_survey_poly_osam.c

@@ -289,7 +289,6 @@ bool nav_survey_poly_osam_setup(uint8_t EntryWP, uint8_t Size, float sw, float O
       EntryRadius = -EntryRadius;
       dSweep = -sw;
     } else {
-      EntryRadius = EntryRadius;
       dSweep = sw;
     }
 

sw/logalizer/sdlogger_download.c

@@ -588,8 +588,22 @@ int main ( int argc, char** argv)
   /* Obtain sd2log directory */
   char *pprz_home;
   pprz_home = getenv( "PAPARAZZI_HOME" );
-  strcat(sd2log, pprz_home);
+
-  strcat(sd2log, "/sw/logalizer/sd2log temp.tlm");
+  char *sd2log_home = "/sw/logalizer/sd2log temp.tlm";
+
+  // check if the pprz_home path fits into the sd2log buffer
+  if (strlen(pprz_home) < (sizeof(sd2log) - strlen(sd2log_home))) {
+    strcat(sd2log, pprz_home);
+    strcat(sd2log, sd2log_home);
+  }
+  else {
+    // pprz_home path too long for the buffer
+    // exit to prevent buffer overflow
+    printf("PPRZ_HOME path too long for the buffer, exiting...\n");
+    exit(-1);
+  }
+
+
 
   /* Get the setting ID with a python script */
   /* TODO: would be nicer to have a C xml parser */

sw/simulator/nps/nps_fdm_jsbsim.cpp

@@ -506,10 +506,24 @@ static void init_jsbsim(double dt)
 
   char buf[1024];
   string rootdir;
+  string jsbsim_home = "/conf/simulator/jsbsim/";
   string jsbsim_ic_name;
 
-  sprintf(buf, "%s/conf/simulator/jsbsim/", getenv("PAPARAZZI_HOME"));
+  char* pprz_home = getenv("PAPARAZZI_HOME");
-  rootdir = string(buf);
+
+  int cnt = -1;
+  if (strlen(pprz_home) < sizeof(buf)) {
+    cnt = snprintf(buf, strlen(pprz_home) + 1, "%s", pprz_home);
+    rootdir = string(buf) + jsbsim_home;
+  }
+
+  // check the results
+  if (cnt < 0){
+    // Either pprz_home path too long for the buffer
+    // or writing the string was not successful.
+    cout << "PPRZ_HOME not set correctly, exiting..." << endl;
+    exit(-1);
+  }
 
   /* if jsbsim initial conditions are defined, use them
    * otherwise use flightplan location

sw/simulator/nps/nps_flightgear.c

@@ -160,6 +160,7 @@ void nps_flightgear_send()
   struct FGNetGUI gui;
 
   gui.version = FG_NET_GUI_VERSION;
+  gui.padding1 = 0; // initialize the padding variable to zero
 
   gui.latitude  = fdm.lla_pos.lat;
   gui.longitude = fdm.lla_pos.lon;

sw/simulator/nps/nps_radio_control_spektrum.c

@@ -33,6 +33,7 @@ int nps_radio_control_spektrum_init(const char *device)
     return -1;
   }
   struct termios termios;
+  termios.c_iflag = 0; // properly initialize variable
   /* input modes  */
   termios.c_iflag &= ~(IGNBRK | BRKINT | PARMRK | INPCK | ISTRIP | INLCR | IGNCR
                        | ICRNL | IUCLC | IXON | IXANY | IXOFF | IMAXBEL);