Potential thread stack overflow vulnerablity in `task_mavobc_entry`

[mirusu400]

While default build configuration, There are potential stack overflow in thread function named task_mavobc_entry

FMT-Firmware/src/task/comm/task_comm.c

Lines 838 to 847 in de5aecb

	TASK_EXPORT __fmt_task2_desc = {
	.name = "mavobc",
	.init = task_mavobc_init,
	.entry = task_mavobc_entry,
	.priority = MAVOBC_THREAD_PRIORITY,
	.auto_start = true,
	.stack_size = 4096,
	.param = NULL,
	.dependency = (char*[]) { "mavgcs", NULL }
	};

In this line, task_mavobc_entry Allows 4096 stack size.

However, after manually checking stack, it might have 4400 Bytes.

Steps to reproduce

1. In rtconfig.py, add this line:

# in 61 line..
...
    CFLAGS += ' -std=c99'
    CXXFLAGS += ' -std=c++14'
++ CXXFLAGS += ' -fstack-usage '
++ CFLAGS += ' -fstack-usage '

This will help you calculating stack size of each function.

2. Build FMT-Firmware normally

cd FMT-Firmware/target/amov/icf5
scons -j4

Now we can get stack usage file (*.su) for each source file, So we can manually check stack size of each function.

In case of task_mavobc_entry:

There are large call stack with this flow:

task_mavobc_entry (task_mavobc_entry) => 0 size
mavproxy_channel_loop (mavproxy_channel_loop) => 72 size
mavproxy_cmd_exec (mavproxy_cmd_exec) => 192 size
mag_calibration (mag_calibration) => 672 size
ellipsoid_fit_solve (ellipsoid_fit_solve) =>2488 size
xzggev (xzggev) => 832 size
xzlartg (xzlartg) => 144 size

=>4400 Bytes!

So, there are potentially occur stack overflow in task_mavobc_entry Thread function.

I only check with icf5, but it seems that there are lots of any other configurations that potentially make thread stack overflow.

[JcZou]

Hi,
Thanks for your hints, this is actually could cause stack overflow. I would increase the stack size for safety!