From 6ee527d3e03fe6d0bdaa1c65fb254674da942b9d Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Thu, 27 Aug 2020 18:33:30 +1000
Subject: [PATCH] AP_NavEKF2: fixed segfault when IMU mask covers more IMUs
 than GSF mask

---
 libraries/AP_NavEKF2/AP_NavEKF2_VehicleStatus.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_VehicleStatus.cpp b/libraries/AP_NavEKF2/AP_NavEKF2_VehicleStatus.cpp
index 79fd049b33..3e5aee4ec5 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2_VehicleStatus.cpp
+++ b/libraries/AP_NavEKF2/AP_NavEKF2_VehicleStatus.cpp
@@ -397,7 +397,7 @@ void NavEKF2_core::detectFlight()
     if (!prevOnGround && onGround) {
         // landed so disable filter bank
         EKFGSF_run_filterbank = false;
-    } else if (!prevInFlight && inFlight) {
+    } else if (yawEstimator != nullptr && !prevInFlight && inFlight) {
         // started flying so reset counters and enable filter bank
         EKFGSF_yaw_reset_ms = 0;
         EKFGSF_yaw_reset_request_ms = 0;