Copter: fixed crash on mavlink send before pos_control is allocated

6 years ago · ef3306d408
1 changed files with 3 additions and 0 deletions
--- a/ArduCopter/GCS_Mavlink.cpp
+++ b/ArduCopter/GCS_Mavlink.cpp
@ -120,6 +120,9 @@ void GCS_MAVLINK_Copter::send_position_target_global_int()
				@@ -120,6 +120,9 @@ void GCS_MAVLINK_Copter::send_position_target_global_int()

 void GCS_MAVLINK_Copter::send_nav_controller_output() const
 {
+    if (!copter.ap.initialised) {
+        return;
+    }
    const Vector3f &targets = copter.attitude_control->get_att_target_euler_cd();
    const Copter::Mode *flightmode = copter.flightmode;
    mavlink_msg_nav_controller_output_send(