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Fixes array out of bound access for lookupPitchRollRC and lookupThrottleRC.

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This commit is contained in:
Johannes Kasberger 2013-11-07 16:59:36 +01:00
parent b2f163d2ac
commit 26aa644999
3 changed files with 11 additions and 8 deletions
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8
src/config.c
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@ -69,18 +69,18 @@ void readEEPROM(void)
mcfg.current_profile = 0;
memcpy(&cfg, &mcfg.profile[mcfg.current_profile], sizeof(config_t));
for (i = 0; i < 6; i++)
for (i = 0; i < PITCH_LOOKUP_LENGTH; i++)
lookupPitchRollRC[i] = (2500 + cfg.rcExpo8 * (i * i - 25)) * i * (int32_t) cfg.rcRate8 / 2500;
for (i = 0; i < 11; i++) {
for (i = 0; i < THROTTLE_LOOKUP_LENGTH; i++) {
int16_t tmp = 10 * i - cfg.thrMid8;
uint8_t y = 1;
if (tmp > 0)
y = 100 - cfg.thrMid8;
if (tmp < 0)
y = cfg.thrMid8;
lookupThrottleRC[i] = 10 * cfg.thrMid8 + tmp * (100 - cfg.thrExpo8 + (int32_t) cfg.thrExpo8 * (tmp * tmp) / (y * y)) / 10; // [0;1000]
lookupThrottleRC[i] = mcfg.minthrottle + (int32_t) (mcfg.maxthrottle - mcfg.minthrottle) * lookupThrottleRC[i] / 1000; // [0;1000] -> [MINTHROTTLE;MAXTHROTTLE]
lookupThrottleRC[i] = 10 * cfg.thrMid8 + tmp * (100 - cfg.thrExpo8 + (int32_t) cfg.thrExpo8 * (tmp * tmp) / (y * y)) / 10;
lookupThrottleRC[i] = mcfg.minthrottle + (int32_t) (mcfg.maxthrottle - mcfg.minthrottle) * lookupThrottleRC[i] / 1000; // [MINTHROTTLE;MAXTHROTTLE]
}
setPIDController(cfg.pidController);