AP_IneertialSensor: fixed startup race in SITL

6 years ago · 4a334d0ed7
1 changed files with 3 additions and 0 deletions
--- a/libraries/AP_InertialSensor/AP_InertialSensor.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor.cpp
@ -1613,6 +1613,9 @@ AuxiliaryBus *AP_InertialSensor::get_auxiliary_bus(int16_t backend_id, uint8_t i
				@@ -1613,6 +1613,9 @@ AuxiliaryBus *AP_InertialSensor::get_auxiliary_bus(int16_t backend_id, uint8_t i
 void AP_InertialSensor::calc_vibration_and_clipping(uint8_t instance, const Vector3f &accel, float dt)
 {
    // check for clipping
+    if (_backends[instance] == nullptr) {
+        return;
+    }
    if (fabsf(accel.x) >  _backends[instance]->get_clip_limit() ||
        fabsf(accel.y) >  _backends[instance]->get_clip_limit() ||
        fabsf(accel.z) > _backends[instance]->get_clip_limit()) {