CollisionPrevention: prevent illegal array index with malicious obsta…

…cle_dsitance message

src/lib/collision_prevention/CollisionPrevention.cpp

@@ -234,7 +234,7 @@ void CollisionPrevention::_addObstacleSensorData(const obstacle_distance_s &obst
 		// Obstacle message arrives in local_origin frame (north aligned)
 		// corresponding data index (convert to world frame and shift by msg offset)
 		for (int i = 0; i < BIN_COUNT; i++) {
-			for (int j = 0; j < 360 / obstacle.increment; j++) {
+			for (int j = 0; (j < 360 / obstacle.increment) && (j < BIN_COUNT); j++) {
 				float bin_lower_angle = _wrap_360((float)i * _obstacle_map_body_frame.increment + _obstacle_map_body_frame.angle_offset
 								  - (float)_obstacle_map_body_frame.increment / 2.f);
 				float bin_upper_angle = _wrap_360((float)i * _obstacle_map_body_frame.increment + _obstacle_map_body_frame.angle_offset