Some crazy shit in UAS.cc was using an array of 256 bytes to handle received...

Some crazy shit in UAS.cc was using an array of 256 bytes to handle received messages and mapping them to components. Well, any message ID over 255 would cause a buffer overrun.

src/uas/UAS.cc

@@ -131,12 +131,6 @@ UAS::UAS(MAVLinkProtocol* protocol, Vehicle* vehicle, FirmwarePluginManager * fi
     _firmwarePluginManager(firmwarePluginManager)
 {
 
-    for (unsigned int i = 0; i<255;++i)
-    {
-        componentID[i] = -1;
-        componentMulti[i] = false;
-    }
-
 #ifndef __mobile__
     connect(_vehicle, &Vehicle::mavlinkMessageReceived, &fileManager, &FileManager::receiveMessage);
     color = UASInterface::getNextColor();
@@ -210,10 +204,11 @@ void UAS::receiveMessage(mavlink_message_t message)
         }
 
         // Store component ID
-        if (componentID[message.msgid] == -1)
+        if (!componentID.contains(message.msgid))
         {
             // Prefer the first component
             componentID[message.msgid] = message.compid;
+            componentMulti[message.msgid] = false;
         }
         else
         {
@@ -225,7 +220,9 @@ void UAS::receiveMessage(mavlink_message_t message)
             }
         }
 
-        if (componentMulti[message.msgid] == true) multiComponentSourceDetected = true;
+        if (componentMulti[message.msgid] == true) {
+            multiComponentSourceDetected = true;
+        }
 
 
         switch (message.msgid)

src/uas/UAS.h

@@ -348,8 +348,9 @@ protected:
 
     virtual void processParamValueMsg(mavlink_message_t& msg, const QString& paramName,const mavlink_param_value_t& rawValue, mavlink_param_union_t& paramValue);
 
-    int componentID[256];
-    bool componentMulti[256];
+    QMap<int, int>componentID;
+    QMap<int, bool>componentMulti;
+
     bool connectionLost; ///< Flag indicates a timed out connection
     quint64 connectionLossTime; ///< Time the connection was interrupted
     quint64 lastVoltageWarning; ///< Time at which the last voltage warning occurred