AP_ExternalAHRS_VectorNav: Resolve SITL failures

Fix bug causing pointer to stack variable to be maintained
ArduPilot · Jul 19, 2024 · f733110 · f733110
1 parent 657c982
commit f733110
Show file tree

Hide file tree

Showing 2 changed files with 5 additions and 5 deletions.
diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_VectorNav.cpp b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_VectorNav.cpp
@@ -602,7 +602,7 @@ void AP_ExternalAHRS_VectorNav::process_ins_ekf_packet(const uint8_t *b) {
     const struct VN_INS_ekf_packet &pkt = *(struct VN_INS_ekf_packet *)b;
 
     last_pkt2_ms          = AP_HAL::millis();
-    latest_ins_ekf_packet = &pkt;
+    *latest_ins_ekf_packet = pkt;
 
     state.quat = Quaternion{pkt.quaternion[3], pkt.quaternion[0], pkt.quaternion[1], pkt.quaternion[2]};
     state.have_quaternion = true;
@@ -670,7 +670,7 @@ void AP_ExternalAHRS_VectorNav::process_ins_gnss_packet(const uint8_t *b) {
 
 
     last_pkt3_ms          = AP_HAL::millis();
-    latest_ins_gnss_packet = &pkt;
+    *latest_ins_gnss_packet = pkt;
 
     // get ToW in milliseconds
     gps.gps_week           = pkt.timeGps / (AP_MSEC_PER_WEEK * 1000000ULL);

diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_VectorNav.h b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_VectorNav.h
@@ -73,9 +73,9 @@ class AP_ExternalAHRS_VectorNav : public AP_ExternalAHRS_backend {
     uint16_t pktoffset;
     uint16_t bufsize;
 
-    struct VN_imu_packet const *latest_imu_packet = nullptr;
-    struct VN_INS_ekf_packet const *latest_ins_ekf_packet = nullptr;
-    struct VN_INS_gnss_packet const *latest_ins_gnss_packet = nullptr;
+    struct VN_imu_packet *latest_imu_packet = nullptr;
+    struct VN_INS_ekf_packet *latest_ins_ekf_packet = nullptr;
+    struct VN_INS_gnss_packet *latest_ins_gnss_packet = nullptr;
 
     uint32_t last_pkt1_ms = UINT32_MAX;
     uint32_t last_pkt2_ms = UINT32_MAX;