From ac4a05ffbf9a9262e1f1495d7bf8394e2ef5c6c5 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 11 Dec 2020 12:48:00 +1100
Subject: [PATCH] AP_NavEKF3: fixed null dereference of airspeed

this caused a segfault in replay
---
 libraries/AP_NavEKF3/AP_NavEKF3_Outputs.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_Outputs.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_Outputs.cpp
index 27a3218121..552ffb228d 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_Outputs.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_Outputs.cpp
@@ -46,7 +46,7 @@ float NavEKF3_core::errorScore() const
         // EKF less sensitive to innovations arising due events like strong gusts of wind, thus, prevent reporting high error scores
         if (assume_zero_sideslip()) {
             const auto *arsp = dal.airspeed();
-            if (arsp->get_num_sensors() >= 2 && (frontend->_affinity & EKF_AFFINITY_ARSP)) {
+            if (arsp != nullptr && arsp->get_num_sensors() >= 2 && (frontend->_affinity & EKF_AFFINITY_ARSP)) {
                 score = MAX(score, 0.3f * tasTestRatio);
             }
         }