From 1f4606e48a56a80e172ed1fc23014872d27a5bfd Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Wed, 23 Nov 2016 21:21:21 +0900
Subject: [PATCH] AP_NavEKF2: protect against null beacon

---
 libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp b/libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp
index 768282440b..9e24803d44 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp
+++ b/libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp
@@ -658,6 +658,11 @@ void NavEKF2_core::readRngBcnData()
     // get the location of the beacon data
     const AP_Beacon *beacon = _ahrs->get_beacon();
 
+    // exit immediately if no beacon object
+    if (beacon == nullptr) {
+        return;
+    }
+
     // get the number of beacons in use
     N_beacons = beacon->count();