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Fixed null ptr deref of terrain on rover with OSD support #17117

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merged 4 commits into from
Apr 7, 2021
Merged

Fixed null ptr deref of terrain on rover with OSD support #17117

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a748605
Ap_Terrain: make AP::terrain return a pointer
tridge Apr 7, 2021
ac17fcb
AP_Frsky_Telem: change for AP::terrain as a pointer
tridge Apr 7, 2021
d574454
AP_OSD: change for AP::terrain as a pointer
tridge Apr 7, 2021
0e2a8a1
SITL: change for AP::terrain as a pointer
tridge Apr 7, 2021
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10 changes: 5 additions & 5 deletions libraries/AP_Frsky_Telem/AP_Frsky_SPort_Passthrough.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -206,8 +206,8 @@ bool AP_Frsky_SPort_Passthrough::is_packet_ready(uint8_t idx, bool queue_empty)
{
packet_ready = false;
#if AP_TERRAIN_AVAILABLE
const AP_Terrain &terrain = AP::terrain();
packet_ready = terrain.enabled();
const AP_Terrain *terrain = AP::terrain();
packet_ready = terrain && terrain->enabled();
#endif
}
break;
Expand Down Expand Up @@ -638,12 +638,12 @@ uint32_t AP_Frsky_SPort_Passthrough::calc_terrain(void)
{
uint32_t value = 0;
#if AP_TERRAIN_AVAILABLE
AP_Terrain &terrain = AP::terrain();
if (!terrain.enabled()) {
AP_Terrain *terrain = AP::terrain();
if (terrain == nullptr || !terrain->enabled()) {
return value;
}
float height_above_terrain;
if (terrain.height_above_terrain(height_above_terrain, true)) {
if (terrain->height_above_terrain(height_above_terrain, true)) {
// vehicle height above terrain
value |= prep_number(roundf(height_above_terrain * 10), 3, 2);
}
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4 changes: 2 additions & 2 deletions libraries/AP_OSD/AP_OSD_Screen.cpp
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Expand Up @@ -1934,10 +1934,10 @@ void AP_OSD_Screen::draw_vtx_power(uint8_t x, uint8_t y)
#if AP_TERRAIN_AVAILABLE
void AP_OSD_Screen::draw_hgt_abvterr(uint8_t x, uint8_t y)
{
AP_Terrain &terrain = AP::terrain();
AP_Terrain *terrain = AP::terrain();

float terrain_altitude;
if (terrain.height_above_terrain(terrain_altitude,true)) {
if (terrain != nullptr && terrain->height_above_terrain(terrain_altitude,true)) {
backend->write(x, y, terrain_altitude < osd->warn_terr, "%4d%c", (int)u_scale(ALTITUDE, terrain_altitude), u_icon(ALTITUDE));
} else {
backend->write(x, y, false, " ---%c", u_icon(ALTITUDE));
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4 changes: 2 additions & 2 deletions libraries/AP_Terrain/AP_Terrain.cpp
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Expand Up @@ -402,9 +402,9 @@ bool AP_Terrain::allocate(void)

namespace AP {

AP_Terrain &terrain()
AP_Terrain *terrain()
{
return *AP_Terrain::get_singleton();
return AP_Terrain::get_singleton();
}

};
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2 changes: 1 addition & 1 deletion libraries/AP_Terrain/AP_Terrain.h
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Original file line number Diff line number Diff line change
Expand Up @@ -440,7 +440,7 @@ class AP_Terrain {
};

namespace AP {
AP_Terrain &terrain();
AP_Terrain *terrain();
};

#endif // AP_TERRAIN_AVAILABLE
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2 changes: 1 addition & 1 deletion libraries/SITL/SIM_Aircraft.cpp
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Expand Up @@ -63,7 +63,7 @@ Aircraft::Aircraft(const char *frame_str) :
sitl->ahrs_rotation_inv = sitl->ahrs_rotation.transposed();
}

terrain = &AP::terrain();
terrain = AP::terrain();

// init rangefinder array to -1 to signify no data
for (uint8_t i = 0; i < RANGEFINDER_MAX_INSTANCES; i++){
Expand Down
4 changes: 2 additions & 2 deletions libraries/SITL/SIM_Ship.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -178,9 +178,9 @@ void ShipSim::send_report(void)
bool have_alt = false;

#if AP_TERRAIN_AVAILABLE
auto &terrain = AP::terrain();
auto terrain = AP::terrain();
float height;
if (terrain.enabled() && terrain.height_amsl(loc, height, true)) {
if (terrain != nullptr && terrain->enabled() && terrain->height_amsl(loc, height, true)) {
alt = height * 1000;
have_alt = true;
}
Expand Down