AP_OpticalFlow: prevent crash on bad device name

7 years ago · ddf8523c2b
1 changed files with 3 additions and 0 deletions
--- a/libraries/AP_OpticalFlow/AP_OpticalFlow_Pixart.cpp
+++ b/libraries/AP_OpticalFlow/AP_OpticalFlow_Pixart.cpp
@ -104,6 +104,9 @@ AP_OpticalFlow_Pixart *AP_OpticalFlow_Pixart::detect(OpticalFlow &_frontend)
				@@ -104,6 +104,9 @@ AP_OpticalFlow_Pixart *AP_OpticalFlow_Pixart::detect(OpticalFlow &_frontend)
 // setup the device
 bool AP_OpticalFlow_Pixart::setup_sensor(void)
 {
+    if (!_dev) {
+        return false;
+    }
    if (!_dev->get_semaphore()->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
        AP_HAL::panic("Unable to get bus semaphore");
    }