Fix heap buffer overflow in QubeServoPendulum analog read#12
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baggepinnen merged 2 commits intomainfrom Mar 10, 2026
Merged
Fix heap buffer overflow in QubeServoPendulum analog read#12baggepinnen merged 2 commits intomainfrom
baggepinnen merged 2 commits intomainfrom
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analog_channel_read was set to UInt32[0] (requesting 1 channel) while analog_read_buffer was zeros(Int32, 0) (0 elements), causing hil_read_analog to write past the buffer. This corrupted heap memory and caused the arm encoder to report phantom rotation. The analog channel is unused by QubeServoPendulum, so remove the read entirely. Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
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Summary
QubeServoPendulum:analog_channel_readwasUInt32[0](requesting 1 channel read) whileanalog_read_bufferwaszeros(Int32, 0)(0 elements). Every call tomeasure()causedhil_read_analogto write 8 bytes (Float64) past the end of the zero-length buffer, corrupting heap memory. This manifested as the arm encoder reporting phantom rotation while the arm was physically stationary.Project.tomlTest plan
] test🤖 Generated with Claude Code