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AP_NavEKF3: dereference arrays using remembered allocation count #26335

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merged 2 commits into from
Feb 28, 2024
Merged

AP_NavEKF3: dereference arrays using remembered allocation count #26335

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a8685ec
AP_NavEKF3: correct initialisation of BeaconFusion data structure
peterbarker Feb 26, 2024
6d6e695
AP_NavEKF3: do not trust number of beacons to not change
peterbarker Feb 26, 2024
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3 changes: 2 additions & 1 deletion libraries/AP_NavEKF3/AP_NavEKF3_Logging.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -238,7 +238,8 @@ void NavEKF3_core::Log_Write_Beacon(uint64_t time_us)
}

// Ensure that beacons are not skipped due to calling this function at a rate lower than the updates
if (rngBcn.fuseDataReportIndex >= rngBcn.N) {
if (rngBcn.fuseDataReportIndex >= rngBcn.N ||
rngBcn.fuseDataReportIndex > rngBcn.numFusionReports) {
rngBcn.fuseDataReportIndex = 0;
}

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16 changes: 11 additions & 5 deletions libraries/AP_NavEKF3/AP_NavEKF3_RngBcnFusion.cpp
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Expand Up @@ -37,9 +37,15 @@ void NavEKF3_core::BeaconFusion::InitialiseVariables()
posOffsetMinVar = 0.0f;
minOffsetStateChangeFilt = 0.0f;
fuseDataReportIndex = 0;
if (AP::dal().beacon()) {
if (fusionReport == nullptr) {
fusionReport = new BeaconFusion::FusionReport[AP::dal().beacon()->count()];
delete[] fusionReport;
fusionReport = nullptr;
numFusionReports = 0;
auto *beacon = AP::dal().beacon();
if (beacon != nullptr) {
const uint8_t count = beacon->count();
fusionReport = new BeaconFusion::FusionReport[count];
if (fusionReport != nullptr) {
numFusionReports = count;
}
}
posOffsetNED.zero();
Expand Down Expand Up @@ -310,7 +316,7 @@ void NavEKF3_core::FuseRngBcn()
}

// Update the fusion report
if (rngBcn.fusionReport && rngBcn.dataDelayed.beacon_ID < dal.beacon()->count()) {
if (rngBcn.dataDelayed.beacon_ID < rngBcn.numFusionReports) {
auto &report = rngBcn.fusionReport[rngBcn.dataDelayed.beacon_ID];
report.beaconPosNED = rngBcn.dataDelayed.beacon_posNED;
report.innov = rngBcn.innov;
Expand Down Expand Up @@ -549,7 +555,7 @@ void NavEKF3_core::FuseRngBcnStatic()
rngBcn.alignmentCompleted = true;
}
// Update the fusion report
if (rngBcn.fusionReport && rngBcn.dataDelayed.beacon_ID < dal.beacon()->count()) {
if (rngBcn.dataDelayed.beacon_ID < rngBcn.numFusionReports) {
auto &report = rngBcn.fusionReport[rngBcn.dataDelayed.beacon_ID];
report.beaconPosNED = rngBcn.dataDelayed.beacon_posNED;
report.innov = rngBcn.innov;
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1 change: 1 addition & 0 deletions libraries/AP_NavEKF3/AP_NavEKF3_core.h
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Expand Up @@ -1372,6 +1372,7 @@ class NavEKF3_core : public NavEKF_core_common
ftype testRatio; // innovation consistency test ratio
Vector3F beaconPosNED; // beacon NED position
} *fusionReport;
uint8_t numFusionReports;
} rngBcn;
#endif // if EK3_FEATURE_BEACON_FUSION

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