Pushing dangling pointer to the kalman queue

[sdalu]

Reading the following code, it looks like a pointer to a local variable is pushed to the queue 😱

crazyflie-firmware/src/deck/drivers/src/lpsTwrTag.c

Lines 198 to 207 in 18104df

	if ((options->combinedAnchorPositionOk || options->anchorPosition[current_anchor].timestamp) &&
	(diff < (OUTLIER_TH*stddev))) {
	distanceMeasurement_t dist;
	dist.distance = options->distance[current_anchor];
	dist.x = options->anchorPosition[current_anchor].x;
	dist.y = options->anchorPosition[current_anchor].y;
	dist.z = options->anchorPosition[current_anchor].z;
	dist.stdDev = 0.25;
	estimatorKalmanEnqueueDistance(&dist);
	}

[krichardsson]

When data is added to the queue it is coped, so it is not a problem. For more information take a look at https://www.freertos.org/a00117.html

Thanks for the heads up!