From 77cda58d73a234e0d2a8f1d8372b5aee7d4d50b3 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Beat=20K=C3=BCng?= <beat-kueng@gmx.net>
Date: Wed, 6 Apr 2016 09:50:08 +0200
Subject: [PATCH] fix ashtech gps: _satellite_info can be nullptr
---
src/drivers/gps/ashtech.cpp | 30 +++++++++++++++++-------------
1 file changed, 17 insertions(+), 13 deletions(-)
diff --git a/src/drivers/gps/ashtech.cpp b/src/drivers/gps/ashtech.cpp
index 59a3e9b050..e541064133 100644
--- a/src/drivers/gps/ashtech.cpp
+++ b/src/drivers/gps/ashtech.cpp
@@ -484,7 +484,7 @@ int ASHTECH::handle_message(int len)
return 0;
}
- if ((this_msg_num == 0) && (bGPS == true)) {
+ if (this_msg_num == 0 && bGPS && _satellite_info) {
memset(_satellite_info->svid, 0, sizeof(_satellite_info->svid));
memset(_satellite_info->used, 0, sizeof(_satellite_info->used));
memset(_satellite_info->snr, 0, sizeof(_satellite_info->snr));
@@ -497,24 +497,28 @@ int ASHTECH::handle_message(int len)
if (this_msg_num == all_msg_num) {
end = tot_sv_visible - (this_msg_num - 1) * 4;
_gps_position->satellites_used = tot_sv_visible;
- _satellite_info->count = satellite_info_s::SAT_INFO_MAX_SATELLITES;
- _satellite_info->timestamp = hrt_absolute_time();
+ if (_satellite_info) {
+ _satellite_info->count = satellite_info_s::SAT_INFO_MAX_SATELLITES;
+ _satellite_info->timestamp = hrt_absolute_time();
+ }
}
- for (int y = 0 ; y < end ; y++) {
- if (bufptr && *(++bufptr) != ',') { sat[y].svid = strtol(bufptr, &endp, 10); bufptr = endp; }
+ if (_satellite_info) {
+ for (int y = 0 ; y < end ; y++) {
+ if (bufptr && *(++bufptr) != ',') { sat[y].svid = strtol(bufptr, &endp, 10); bufptr = endp; }
- if (bufptr && *(++bufptr) != ',') { sat[y].elevation = strtol(bufptr, &endp, 10); bufptr = endp; }
+ if (bufptr && *(++bufptr) != ',') { sat[y].elevation = strtol(bufptr, &endp, 10); bufptr = endp; }
- if (bufptr && *(++bufptr) != ',') { sat[y].azimuth = strtol(bufptr, &endp, 10); bufptr = endp; }
+ if (bufptr && *(++bufptr) != ',') { sat[y].azimuth = strtol(bufptr, &endp, 10); bufptr = endp; }
- if (bufptr && *(++bufptr) != ',') { sat[y].snr = strtol(bufptr, &endp, 10); bufptr = endp; }
+ if (bufptr && *(++bufptr) != ',') { sat[y].snr = strtol(bufptr, &endp, 10); bufptr = endp; }
- _satellite_info->svid[y + (this_msg_num - 1) * 4] = sat[y].svid;
- _satellite_info->used[y + (this_msg_num - 1) * 4] = ((sat[y].snr > 0) ? true : false);
- _satellite_info->snr[y + (this_msg_num - 1) * 4] = sat[y].snr;
- _satellite_info->elevation[y + (this_msg_num - 1) * 4] = sat[y].elevation;
- _satellite_info->azimuth[y + (this_msg_num - 1) * 4] = sat[y].azimuth;
+ _satellite_info->svid[y + (this_msg_num - 1) * 4] = sat[y].svid;
+ _satellite_info->used[y + (this_msg_num - 1) * 4] = ((sat[y].snr > 0) ? true : false);
+ _satellite_info->snr[y + (this_msg_num - 1) * 4] = sat[y].snr;
+ _satellite_info->elevation[y + (this_msg_num - 1) * 4] = sat[y].elevation;
+ _satellite_info->azimuth[y + (this_msg_num - 1) * 4] = sat[y].azimuth;
+ }
}
}
--
GitLab