From f384be7ee42413e7601b787cdb0c8dfbe3628fca Mon Sep 17 00:00:00 2001
From: Gus Grubba <mavlink@grubba.com>
Date: Thu, 27 Jul 2017 11:37:56 -0400
Subject: [PATCH] Buffer overrun in UAS.cc

---
 src/uas/UAS.cc | 15 ++++++---------
 src/uas/UAS.h  |  5 +++--
 2 files changed, 9 insertions(+), 11 deletions(-)

diff --git a/src/uas/UAS.cc b/src/uas/UAS.cc
index 93acba906..f13cfd002 100644
--- a/src/uas/UAS.cc
+++ b/src/uas/UAS.cc
@@ -131,17 +131,11 @@ 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();
 #endif
 
-    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)
diff --git a/src/uas/UAS.h b/src/uas/UAS.h
index 06ec98a62..421941a52 100644
--- a/src/uas/UAS.h
+++ b/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
-- 
2.22.0