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Merge pull request #15 from schugabe/expofix 

Fixes array out of bound access in expo functions
This commit is contained in:
dongie 2013-11-08 15:27:31 -08:00
parent b2f163d2ac 26aa644999
commit 83d25366d8
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; mcfg.current_profile = 0;
memcpy(&cfg, &mcfg.profile[mcfg.current_profile], sizeof(config_t)); 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; 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; int16_t tmp = 10 * i - cfg.thrMid8;
uint8_t y = 1; uint8_t y = 1;
if (tmp > 0) if (tmp > 0)
y = 100 - cfg.thrMid8; y = 100 - cfg.thrMid8;
if (tmp < 0) if (tmp < 0)
y = cfg.thrMid8; 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] = 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; // [0;1000] -> [MINTHROTTLE;MAXTHROTTLE] lookupThrottleRC[i] = mcfg.minthrottle + (int32_t) (mcfg.maxthrottle - mcfg.minthrottle) * lookupThrottleRC[i] / 1000; // [MINTHROTTLE;MAXTHROTTLE]
} }
setPIDController(cfg.pidController); setPIDController(cfg.pidController);

4
src/mw.c
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@ -18,8 +18,8 @@ int16_t failsafeCnt = 0;
int16_t failsafeEvents = 0; int16_t failsafeEvents = 0;
int16_t rcData[RC_CHANS]; // interval [1000;2000] int16_t rcData[RC_CHANS]; // interval [1000;2000]
int16_t rcCommand[4]; // interval [1000;2000] for THROTTLE and [-500;+500] for ROLL/PITCH/YAW int16_t rcCommand[4]; // interval [1000;2000] for THROTTLE and [-500;+500] for ROLL/PITCH/YAW
int16_t lookupPitchRollRC[6]; // lookup table for expo & RC rate PITCH+ROLL int16_t lookupPitchRollRC[PITCH_LOOKUP_LENGTH]; // lookup table for expo & RC rate PITCH+ROLL
int16_t lookupThrottleRC[11]; // lookup table for expo & mid THROTTLE int16_t lookupThrottleRC[THROTTLE_LOOKUP_LENGTH]; // lookup table for expo & mid THROTTLE
uint16_t rssi; // range: [0;1023] uint16_t rssi; // range: [0;1023]
rcReadRawDataPtr rcReadRawFunc = NULL; // receive data from default (pwm/ppm) or additional (spek/sbus/?? receiver drivers) rcReadRawDataPtr rcReadRawFunc = NULL; // receive data from default (pwm/ppm) or additional (spek/sbus/?? receiver drivers)

7
src/mw.h
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@ -356,10 +356,13 @@ extern int16_t rcData[RC_CHANS];
extern uint16_t rssi; // range: [0;1023] extern uint16_t rssi; // range: [0;1023]
extern uint8_t vbat; extern uint8_t vbat;
extern int16_t telemTemperature1; // gyro sensor temperature extern int16_t telemTemperature1; // gyro sensor temperature
extern int16_t lookupPitchRollRC[6]; // lookup table for expo & RC rate PITCH+ROLL
extern int16_t lookupThrottleRC[11]; // lookup table for expo & mid THROTTLE
extern uint8_t toggleBeep; extern uint8_t toggleBeep;
#define PITCH_LOOKUP_LENGTH 7
#define THROTTLE_LOOKUP_LENGTH 12
extern int16_t lookupPitchRollRC[PITCH_LOOKUP_LENGTH]; // lookup table for expo & RC rate PITCH+ROLL
extern int16_t lookupThrottleRC[THROTTLE_LOOKUP_LENGTH]; // lookup table for expo & mid THROTTLE
// GPS stuff // GPS stuff
extern int32_t GPS_coord[2]; extern int32_t GPS_coord[2];
extern int32_t GPS_home[2]; extern int32_t GPS_home[2];