AP_InertialSensor: fix segfault

9 years ago · bae16a61e2
1 changed files with 1 additions and 1 deletions
--- a/libraries/AP_InertialSensor/AP_InertialSensor_Backend.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_Backend.cpp
@ -132,7 +132,7 @@ void AP_InertialSensor_Backend::_publish_accel(uint8_t instance, const Vector3f
				@@ -132,7 +132,7 @@ void AP_InertialSensor_Backend::_publish_accel(uint8_t instance, const Vector3f
    _imu._delta_velocity_valid[instance] = true;


-    if (_imu._accel_calibrator[instance].get_status() == ACCEL_CAL_COLLECTING_SAMPLE) {
+    if (_imu._accel_calibrator != NULL && _imu._accel_calibrator[instance].get_status() == ACCEL_CAL_COLLECTING_SAMPLE) {
        Vector3f cal_sample = _imu._delta_velocity[instance];

        //remove rotation