From 1fca85784c2cde87f408e2f12700d1dc8b35b860 Mon Sep 17 00:00:00 2001
From: Philippe Renon <op.filnet@yahoo.fr>
Date: Tue, 14 Jan 2014 21:00:44 +0100
Subject: [PATCH] OP-1122 OP-1145 added more path plan checks : - empty plan
 (i.e. no waypoints defined) - out of range waypoint and path action ids

+review OPReview-609
---
 flight/modules/PathPlanner/pathplanner.c | 28 ++++++++++++++++++++++++
 1 file changed, 28 insertions(+)

diff --git a/flight/modules/PathPlanner/pathplanner.c b/flight/modules/PathPlanner/pathplanner.c
index 3e705d99e..93e664b85 100644
--- a/flight/modules/PathPlanner/pathplanner.c
+++ b/flight/modules/PathPlanner/pathplanner.c
@@ -265,10 +265,16 @@ static uint8_t checkPathPlan()
     uint16_t actionCount;
     uint8_t pathCrc;
     PathPlanData pathPlan;
+    //WaypointData waypoint; // using global instead (?)
+    //PathActionData action; // using global instead (?)
 
     PathPlanGet(&pathPlan);
 
     waypointCount = pathPlan.WaypointCount;
+    if (waypointCount == 0) {
+        // an empty path plan is invalid
+        return false;
+    }
     actionCount   = pathPlan.PathActionCount;
 
     // check count consistency
@@ -295,6 +301,28 @@ static uint8_t checkPathPlan()
         return false;
     }
 
+    // waypoint consistency
+    for (i = 0; i < waypointCount; i++) {
+        WaypointInstGet(i, &waypoint);
+        if (waypoint.Action >= actionCount) {
+            // path action id is out of range
+            return false;
+        }
+    }
+
+    // path action consistency
+    for (i = 0; i < actionCount; i++) {
+        PathActionInstGet(i, &pathAction);
+        if (pathAction.ErrorDestination >= waypointCount) {
+            // waypoint id is out of range
+            return false;
+        }
+        if (pathAction.JumpDestination >= waypointCount) {
+            // waypoint id is out of range
+            return false;
+        }
+    }
+
     // path plan passed checks
 
     return true;