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Update navigation.c

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protect against incorrect mission index setting
This commit is contained in:
breadoven 2021-10-28 15:31:24 +01:00
parent cd2148283f
commit f5bd1535b4
1 changed files with 15 additions and 7 deletions
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22
src/main/navigation/navigation.c
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@ -2888,7 +2888,7 @@ void selectMultiMissionIndex(int8_t increment)
void setMultiMissionOnArm(void)
{
if (posControl.multiMissionCount > 1) {
if (posControl.multiMissionCount > 1 && posControl.loadedMultiMissionWPCount) {
posControl.waypointCount = posControl.loadedMultiMissionWPCount;
for (int8_t i = 0; i < NAV_MAX_WAYPOINTS; i++) {
@ -2916,21 +2916,27 @@ bool loadNonVolatileWaypointList(bool clearIfLoaded)
resetWaypointList();
/* Reset multi mission index to 1 if exceeds number of available missions */
if (navConfig()->general.waypoint_multi_mission_index > posControl.multiMissionCount) {
navConfigMutable()->general.waypoint_multi_mission_index = 1;
}
posControl.multiMissionCount = 0;
posControl.loadedMultiMissionStartWP = -1;
int8_t multiMissionGeoWPCount;
posControl.loadedMultiMissionWPCount = 0;
int8_t loadedMultiMissionGeoWPCount;
for (int i = 0; i < NAV_MAX_WAYPOINTS; i++) {
if (navConfig()->general.waypoint_multi_mission_index) {
setWaypoint(i + 1, nonVolatileWaypointList(i));
setWaypoint(i + 1, nonVolatileWaypointList(i)); // load waypoints
if ((posControl.multiMissionCount + 1 == navConfig()->general.waypoint_multi_mission_index)) {
// Find start and end of selected mission
if (posControl.loadedMultiMissionStartWP == -1) {
posControl.loadedMultiMissionStartWP = i;
multiMissionGeoWPCount = posControl.geoWaypointCount;
loadedMultiMissionGeoWPCount = posControl.geoWaypointCount;
} else if (posControl.waypointList[i].flag == NAV_WP_FLAG_LAST) {
posControl.loadedMultiMissionWPCount = i - posControl.loadedMultiMissionStartWP + 1;
multiMissionGeoWPCount = posControl.geoWaypointCount - multiMissionGeoWPCount + 1;
loadedMultiMissionGeoWPCount = posControl.geoWaypointCount - loadedMultiMissionGeoWPCount + 1;
}
}
}
@ -2944,11 +2950,13 @@ bool loadNonVolatileWaypointList(bool clearIfLoaded)
}
}
}
posControl.geoWaypointCount = multiMissionGeoWPCount;
posControl.geoWaypointCount = loadedMultiMissionGeoWPCount;
posControl.loadedMultiMissionIndex = posControl.multiMissionCount ? navConfig()->general.waypoint_multi_mission_index : 0;
// Mission sanity check failed - reset the list
if (!posControl.waypointListValid) {
// Also reset if no multi mission found to load (shouldn't happen)
if (!posControl.waypointListValid || !posControl.loadedMultiMissionWPCount) {
resetWaypointList();
}