From ef3306d4081c69f210e3490ac4ab36afa0efdf36 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Mon, 18 Feb 2019 10:46:06 +1100
Subject: [PATCH] Copter: fixed crash on mavlink send before pos_control is
 allocated

---
 ArduCopter/GCS_Mavlink.cpp | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/ArduCopter/GCS_Mavlink.cpp b/ArduCopter/GCS_Mavlink.cpp
index 4455257da4..fdfdcdd684 100644
--- a/ArduCopter/GCS_Mavlink.cpp
+++ b/ArduCopter/GCS_Mavlink.cpp
@@ -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(