Merge branch 'Copter-4.5' into Copter-4.5-lida2003

SnapDragonfly · Apr 10, 2024 · b440735 · b440735
2 parents 220478c + 913ec4b
commit b440735
Show file tree

Hide file tree

Showing 12 changed files with 138 additions and 12 deletions.
diff --git a/AntennaTracker/ReleaseNotes.txt b/AntennaTracker/ReleaseNotes.txt
@@ -1,4 +1,43 @@
 Antenna Tracker Release Notes:
+
+------------------------------------------------------------------
+Release 4.5.1 8th April 2024
+
+This release fixes a critical bug in the CRSF R/C protocol parser that
+can lead to a handfault and a vehicle crashing. A similar fix was
+applied to the GHST protocol, although we believe that GHST could not
+be affected by the bug, so this was just a precaution.
+
+There are no other changes in this release.
+
+------------------------------------------------------------------
+Release 4.5.0-beta4 22nd March 2024
+
+Changes from 4.5.0-beta3
+
+1) system changes
+
+- fixed a cache corruption issue with microSD card data on H7 based boards
+- rename parameter NET_ENABLED to NET_ENABLE
+- fixed FDCAN labels for adding new H7 boards
+- avoid logging dma.txt to save CPU
+- fixed roll/pitch in viewpro driver
+- added band X in VideoTX
+- fixed quaternion attitude reporting for Microstrain external AHRS
+- add RPLidarC1 proximity support
+
+2) new boards
+- added MicoAir405v2
+- add Orqa F405 Pro
+
+------------------------------------------------------------------
+Release 4.5.0 2nd April 2024
+
+No changes from 4.5.0-beta4
+------------------------------------------------------------------
+Release 4.5.0 2nd April 2024
+
+No changes from 4.5.0-beta4
 ------------------------------------------------------------------
 Release 4.5.0 2nd April 2024
 

diff --git a/AntennaTracker/version.h b/AntennaTracker/version.h
@@ -6,14 +6,14 @@
 
 #include "ap_version.h"
 
-#define THISFIRMWARE "AntennaTracker V4.5.0"
+#define THISFIRMWARE "AntennaTracker V4.5.1"
 
 // the following line is parsed by the autotest scripts
-#define FIRMWARE_VERSION 4,5,0,FIRMWARE_VERSION_TYPE_OFFICIAL
+#define FIRMWARE_VERSION 4,5,1,FIRMWARE_VERSION_TYPE_OFFICIAL
 
 #define FW_MAJOR 4
 #define FW_MINOR 5
-#define FW_PATCH 0
+#define FW_PATCH 1
 #define FW_TYPE FIRMWARE_VERSION_TYPE_OFFICIAL
 
 #include <AP_Common/AP_FWVersionDefine.h>
diff --git a/ArduCopter/ReleaseNotes.txt b/ArduCopter/ReleaseNotes.txt
@@ -1,5 +1,16 @@
 ArduPilot Copter Release Notes:
 -------------------------------
+
+Release 4.5.1 8th April 2024
+
+This release fixes a critical bug in the CRSF R/C protocol parser that
+can lead to a handfault and a vehicle crashing. A similar fix was
+applied to the GHST protocol, although we believe that GHST could not
+be affected by the bug, so this was just a precaution.
+
+There are no other changes in this release.
+
+------------------------------------------------------------------
 Release 4.5.0 2nd April 2024
 
 No changes from 4.5.0-beta4

diff --git a/ArduCopter/version.h b/ArduCopter/version.h
@@ -6,14 +6,14 @@
 
 #include "ap_version.h"
 
-#define THISFIRMWARE "ArduCopter V4.5.0"
+#define THISFIRMWARE "ArduCopter V4.5.1"
 
 // the following line is parsed by the autotest scripts
-#define FIRMWARE_VERSION 4,5,0,FIRMWARE_VERSION_TYPE_OFFICIAL
+#define FIRMWARE_VERSION 4,5,1,FIRMWARE_VERSION_TYPE_OFFICIAL
 
 #define FW_MAJOR 4
 #define FW_MINOR 5
-#define FW_PATCH 0
+#define FW_PATCH 1
 #define FW_TYPE FIRMWARE_VERSION_TYPE_OFFICIAL
 
 #include <AP_Common/AP_FWVersionDefine.h>
diff --git a/ArduPlane/ReleaseNotes.txt b/ArduPlane/ReleaseNotes.txt
@@ -1,3 +1,13 @@
+Release 4.5.1 8th April 2024
+----------------------------
+
+This release fixes a critical bug in the CRSF R/C protocol parser that
+can lead to a handfault and a vehicle crashing. A similar fix was
+applied to the GHST protocol, although we believe that GHST could not
+be affected by the bug, so this was just a precaution.
+
+There are no other changes in this release.
+
 Release 4.5.0 2nd April 2024
 ----------------------------
 

diff --git a/ArduPlane/version.h b/ArduPlane/version.h
@@ -6,14 +6,14 @@
 
 #include "ap_version.h"
 
-#define THISFIRMWARE "ArduPlane V4.5.0"
+#define THISFIRMWARE "ArduPlane V4.5.1"
 
 // the following line is parsed by the autotest scripts
-#define FIRMWARE_VERSION 4,5,0,FIRMWARE_VERSION_TYPE_OFFICIAL
+#define FIRMWARE_VERSION 4,5,1,FIRMWARE_VERSION_TYPE_OFFICIAL
 
 #define FW_MAJOR 4
 #define FW_MINOR 5
-#define FW_PATCH 0
+#define FW_PATCH 1
 #define FW_TYPE FIRMWARE_VERSION_TYPE_OFFICIAL
 
 #include <AP_Common/AP_FWVersionDefine.h>
diff --git a/Rover/release-notes.txt b/Rover/release-notes.txt
@@ -1,5 +1,15 @@
 Rover Release Notes:
 --------------------
+Release 4.5.1 8th April 2024
+
+This release fixes a critical bug in the CRSF R/C protocol parser that
+can lead to a handfault and a vehicle crashing. A similar fix was
+applied to the GHST protocol, although we believe that GHST could not
+be affected by the bug, so this was just a precaution.
+
+There are no other changes in this release.
+
+------------------------------------------------------------------
 Release 4.5.0 2nd April 2024
 
 No changes from 4.5.0-beta4

diff --git a/Rover/version.h b/Rover/version.h
@@ -6,14 +6,14 @@
 
 #include "ap_version.h"
 
-#define THISFIRMWARE "ArduRover V4.5.0"
+#define THISFIRMWARE "ArduRover V4.5.1"
 
 // the following line is parsed by the autotest scripts
-#define FIRMWARE_VERSION 4,5,0,FIRMWARE_VERSION_TYPE_OFFICIAL
+#define FIRMWARE_VERSION 4,5,1,FIRMWARE_VERSION_TYPE_OFFICIAL
 
 #define FW_MAJOR 4
 #define FW_MINOR 5
-#define FW_PATCH 0
+#define FW_PATCH 1
 #define FW_TYPE FIRMWARE_VERSION_TYPE_OFFICIAL
 
 #include <AP_Common/AP_FWVersionDefine.h>
diff --git a/libraries/AP_RCProtocol/AP_RCProtocol_CRSF.cpp b/libraries/AP_RCProtocol/AP_RCProtocol_CRSF.cpp
@@ -276,6 +276,11 @@ bool AP_RCProtocol_CRSF::check_frame(uint32_t timestamp_us)
         return false;
     }
 
+    if (_frame.length < CRSF_FRAME_LENGTH_MIN) {
+        // invalid short frame
+        return false;
+    }
+
     // decode whatever we got and expect
     if (_frame_ofs >= _frame.length + CRSF_HEADER_LEN) {
         const uint8_t crc = crc8_dvb_s2_update(0, &_frame_bytes[CRSF_HEADER_LEN], _frame.length - 1);

diff --git a/libraries/AP_RCProtocol/AP_RCProtocol_CRSF.h b/libraries/AP_RCProtocol/AP_RCProtocol_CRSF.h
@@ -31,6 +31,7 @@
 #define CRSF_FRAMELEN_MAX   64U      // maximum possible framelength
 #define CRSF_HEADER_LEN     2U       // header length
 #define CRSF_FRAME_PAYLOAD_MAX (CRSF_FRAMELEN_MAX - CRSF_HEADER_LEN)     // maximum size of the frame length field in a packet
+#define CRSF_FRAME_LENGTH_MIN 2 // min value for _frame.length
 #define CRSF_BAUDRATE      416666U
 #define ELRS_BAUDRATE      420000U
 #define CRSF_TX_TIMEOUT    500000U   // the period after which the transmitter is considered disconnected (matches copters failsafe)

diff --git a/libraries/AP_RCProtocol/AP_RCProtocol_GHST.cpp b/libraries/AP_RCProtocol/AP_RCProtocol_GHST.cpp
@@ -177,6 +177,12 @@ void AP_RCProtocol_GHST::_process_byte(uint32_t timestamp_us, uint8_t byte)
         return;
     }
 
+    if (_frame.length < 2) {
+        // invalid length, we subtract 2 below
+        _frame_ofs = 0;
+        return;
+    }
+
     // decode whatever we got and expect
     if (_frame_ofs == _frame.length + GHST_HEADER_LEN) {
         log_data(AP_RCProtocol::GHST, timestamp_us, (const uint8_t*)&_frame, _frame_ofs - GHST_HEADER_LEN);

diff --git a/libraries/AP_RCProtocol/examples/RCProtocolTest/RCProtocolTest.cpp b/libraries/AP_RCProtocol/examples/RCProtocolTest/RCProtocolTest.cpp
@@ -23,6 +23,12 @@
 #include <AP_VideoTX/AP_VideoTX.h>
 #include <stdio.h>
 
+#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <fcntl.h>
+#endif
+
 void setup();
 void loop();
 
@@ -280,6 +286,39 @@ static bool test_protocol_bytesonly(const char *name, uint32_t baudrate,
     return ret;
 }
 
+/*
+  test with random data
+ */
+static void test_random(void)
+{
+#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
+    const uint32_t baudrates[] = { 115200, 100000, 416666, 420000 };
+    const uint32_t test_bytes = 1000000;
+    int fd = open("/dev/urandom", O_RDONLY);
+    if (fd == -1) {
+        printf("Can't open /dev/urandom\n");
+        return;
+    }
+    uint8_t *buf = (uint8_t *)malloc(test_bytes);
+    for (const auto b : baudrates) {
+        printf("Testing random with baud %u\n", unsigned(b));
+        rcprot = new AP_RCProtocol();
+        rcprot->init();
+        if (::read(fd, buf, test_bytes) != test_bytes) {
+            printf("Failed to read from /dev/urandom\n");
+            break;
+        }
+        for (uint32_t i=0; i<test_bytes; i++) {
+            rcprot->process_byte(buf[i], b);
+        }
+        delete rcprot;
+        rcprot = nullptr;
+    }
+    free(buf);
+    close(fd);
+#endif
+}
+
 //Main loop where the action takes place
 #pragma GCC diagnostic error "-Wframe-larger-than=2000"
 void loop()
@@ -479,6 +518,11 @@ void loop()
     test_protocol("FPORT2_16CH", 115200, fport2_16ch_bytes, sizeof(fport2_16ch_bytes), fport2_16ch_output, ARRAY_SIZE(fport2_16ch_output), 3, 0, true);
     test_protocol("FPORT2_24CH", 115200, fport2_24ch_bytes, sizeof(fport2_24ch_bytes), fport2_24ch_output, ARRAY_SIZE(fport2_24ch_output), 3, 0, true);
 
+    /*
+      now test with random data to ensure we don't have any logic bugs that can cause a crash of the parser
+     */
+    test_random();
+
     if (test_count++ == 10) {
         if (test_failures == 0) {
             printf("Test PASSED\n");