AP_RCProtocol: initialize parser state and tighten bounds#32816
Draft
vlordier wants to merge 1 commit intoArduPilot:masterfrom
Draft
AP_RCProtocol: initialize parser state and tighten bounds#32816vlordier wants to merge 1 commit intoArduPilot:masterfrom
vlordier wants to merge 1 commit intoArduPilot:masterfrom
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IamPete1
requested changes
Apr 18, 2026
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| uint16_t _disabled_for_pulses{0}; | ||
| bool _detected_with_bytes{false}; | ||
| AP_RCProtocol_Backend *backend[NONE] = {}; | ||
| bool _new_input{false}; | ||
| uint32_t _last_input_ms{0}; | ||
| bool _failsafe_active{false}; | ||
| bool _valid_serial_prot{false}; | ||
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| // optional additional uart | ||
| struct { | ||
| AP_HAL::UARTDriver *uart; | ||
| bool opened; | ||
| uint32_t last_config_change_ms; | ||
| uint8_t config_num; | ||
| AP_HAL::UARTDriver *uart{nullptr}; | ||
| bool opened{false}; | ||
| uint32_t last_config_change_ms{0}; | ||
| uint8_t config_num{0}; | ||
| } added; | ||
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| // allowed RC protocols mask (first bit means "all") | ||
| uint32_t rc_protocols_mask; | ||
| uint32_t rc_protocols_mask{0}; | ||
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| rcprotocol_t _last_detected_protocol; | ||
| bool _last_detected_using_uart; | ||
| rcprotocol_t _last_detected_protocol{NONE}; | ||
| bool _last_detected_using_uart{false}; |
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| uint32_t rc_input_count{0}; | ||
| uint32_t last_rc_input_count{0}; | ||
| uint32_t rc_frame_count{0}; | ||
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| uint16_t _pwm_values[MAX_RCIN_CHANNELS]; | ||
| uint8_t _num_channels; | ||
| uint16_t _pwm_values[MAX_RCIN_CHANNELS] = {}; | ||
| uint8_t _num_channels{0}; |
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| @@ -227,25 +227,25 @@ class AP_RCProtocol_CRSF : public AP_RCProtocol_Backend { | |||
| void start_uart(); | |||
| AP_HAL::UARTDriver* get_current_UART() { return (_uart ? _uart : get_available_UART()); } | |||
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| uint16_t _channels[CRSF_MAX_CHANNELS]; /* buffer for extracted RC channel data as pulsewidth in microseconds */ | |||
| uint16_t _channels[CRSF_MAX_CHANNELS] = {}; /* buffer for extracted RC channel data as pulsewidth in microseconds */ | |||
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| uint32_t _last_frame_time_us; | |||
| uint32_t _last_tx_frame_time_us; | |||
| uint32_t _last_uart_start_time_ms; | |||
| uint32_t _last_rx_frame_time_us; | |||
| uint32_t _start_frame_time_us; | |||
| bool telem_available; | |||
| uint32_t _new_baud_rate; | |||
| bool _crsf_v3_active; | |||
| uint32_t _last_frame_time_us{0}; | |||
| uint32_t _last_tx_frame_time_us{0}; | |||
| uint32_t _last_uart_start_time_ms{0}; | |||
| uint32_t _last_rx_frame_time_us{0}; | |||
| uint32_t _start_frame_time_us{0}; | |||
| bool telem_available{false}; | |||
| uint32_t _new_baud_rate{0}; | |||
| bool _crsf_v3_active{false}; | |||
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| bool _use_lq_for_rssi; | |||
| bool _use_lq_for_rssi{false}; | |||
| int16_t derive_scaled_lq_value(uint8_t uplink_lq); | |||
| static const uint16_t RF_MODE_RATES[RFMode::RF_MODE_MAX_MODES]; | ||
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| AP_HAL::UARTDriver *_uart; | ||
| AP_HAL::UARTDriver *_uart{nullptr}; |
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| @@ -60,25 +60,25 @@ class AP_RCProtocol_DSM : public AP_RCProtocol_Backend { | |||
| BIND_STATE2, | |||
| BIND_STATE3, | |||
| BIND_STATE4, | |||
| } bind_state; | |||
| uint32_t bind_last_ms; | |||
| uint32_t bind_mode_saved; | |||
| } bind_state{BIND_STATE_NONE}; | |||
| uint32_t bind_last_ms{0}; | |||
| uint32_t bind_mode_saved{0}; | |||
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| uint16_t last_values[AP_DSM_MAX_CHANNELS]; | |||
| uint16_t last_values[AP_DSM_MAX_CHANNELS] = {}; | |||
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| struct { | |||
| uint8_t buf[16]; | |||
| uint8_t ofs; | |||
| uint8_t ofs{0}; | |||
| } byte_input; | |||
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| } dsm_decode_state{DSM_DECODE_STATE_DESYNC}; | ||
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| uint32_t last_frame_time_ms; | ||
| uint32_t last_rx_time_ms; | ||
| uint16_t chan_count; | ||
| uint32_t last_frame_time_ms{0}; | ||
| uint32_t last_rx_time_ms{0}; | ||
| uint16_t chan_count{0}; |
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| uint8_t _rxlen{0}; | ||
| ReceiverFcPacketHoTT _rxpacket; | ||
| uint16_t _crc16; | ||
| uint32_t last_packet_us; | ||
| uint16_t _crc16{0}; | ||
| uint32_t last_packet_us{0}; |
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This draft isolates the AP_RCProtocol and adjacent SUMD parser changes from the larger security-hardening branch.
Summary:
Why:
Validation:
This PR is intentionally draft while the scope and test shape are reviewed.