Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AP_RCTelemetry: Do uart's nullptr check first

This commit is contained in:
murata 2021-05-09 03:24:50 +09:00 committed by Andrew Tridgell
parent bb00340171
commit 072420d98e
1 changed files with 5 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

7
libraries/AP_RCTelemetry/AP_CRSF_Telem.cpp
View File

@ -155,12 +155,15 @@ void AP_CRSF_Telem::process_rf_mode_changes()
if (crsf != nullptr) { if (crsf != nullptr) {
uart = crsf->get_UART(); uart = crsf->get_UART();
} }
if (uart == nullptr) {
return;
}
// warn the user if their setup is sub-optimal // warn the user if their setup is sub-optimal
if (_telem_last_report_ms == 0 && uart != nullptr && !uart->is_dma_enabled()) { if (_telem_last_report_ms == 0 && !uart->is_dma_enabled()) {
gcs().send_text(MAV_SEVERITY_WARNING, "CRSF: running on non-DMA serial port"); gcs().send_text(MAV_SEVERITY_WARNING, "CRSF: running on non-DMA serial port");
} }
// report a change in RF mode or a chnage of more than 10Hz if we haven't done so in the last 5s // report a change in RF mode or a chnage of more than 10Hz if we haven't done so in the last 5s
if ((now - _telem_last_report_ms > 5000) && uart != nullptr && if ((now - _telem_last_report_ms > 5000) &&
(_telem_rf_mode != current_rf_mode || abs(int16_t(_telem_last_avg_rate) - int16_t(_scheduler.avg_packet_rate)) > 25)) { (_telem_rf_mode != current_rf_mode || abs(int16_t(_telem_last_avg_rate) - int16_t(_scheduler.avg_packet_rate)) > 25)) {
gcs().send_text(MAV_SEVERITY_INFO, "CRSF: RF mode %d, rate is %dHz", (uint8_t)current_rf_mode, _scheduler.avg_packet_rate); gcs().send_text(MAV_SEVERITY_INFO, "CRSF: RF mode %d, rate is %dHz", (uint8_t)current_rf_mode, _scheduler.avg_packet_rate);
update_custom_telemetry_rates(current_rf_mode); update_custom_telemetry_rates(current_rf_mode);