From dc2b1675f5572aea8c4461fd29b7b8f04aab7c35 Mon Sep 17 00:00:00 2001 From: oaq Date: Mon, 8 Jun 2026 14:41:12 +1000 Subject: [PATCH] rtkpos: correct trace output for DGPS mode The hard coded array size was too large for DGPS mode causing OOB reads. --- src/rtkpos.c | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/rtkpos.c b/src/rtkpos.c index e1f275c28..787435521 100644 --- a/src/rtkpos.c +++ b/src/rtkpos.c @@ -2099,13 +2099,13 @@ static int relpos(rtk_t *rtk, const obsd_t *obs, int nu, int nr, K=P*H*(H'*P*H+R)^-1 xp=x+K*v Pp=(I-K*H')*P */ - trace(3,"before filter x=");tracemat(3,rtk->x,1,9,13,6); + trace(3,"before filter x=");tracemat(3,rtk->x,1,NP(opt),13,6); if ((info=filter(xp,Pp,H,v,R,rtk->nx,nv))) { errmsg(rtk,"filter error (info=%d)\n",info); stat=SOLQ_NONE; break; } - trace(3,"after filter x=");tracemat(3,xp,1,9,13,6); + trace(3,"after filter x=");tracemat(3,xp,1,NP(opt),13,6); trace(4,"x(%d)=",i+1); tracemat(4,xp,1,NR(opt),13,4); } /* calc zero diff residuals again after kalman filter update */