Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-09 17:38:32 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_Motors: protect against writes to NULL servo_aux

Browse Source 
if user changes parameter while setting up it could crash
This commit is contained in:
Andrew Tridgell 2018-01-20 10:10:47 +11:00
parent bdb9f062ae
commit 2c73b374f5
1 changed files with 3 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
libraries/AP_Motors/AP_MotorsHeli_Single.cpp
View File

@ -480,7 +480,9 @@ void AP_MotorsHeli_Single::move_yaw(float yaw_out)
// write_aux - converts servo_out parameter value (0 to 1 range) to pwm and outputs to aux channel (ch7) // write_aux - converts servo_out parameter value (0 to 1 range) to pwm and outputs to aux channel (ch7)
void AP_MotorsHeli_Single::write_aux(float servo_out) void AP_MotorsHeli_Single::write_aux(float servo_out)
{ {
rc_write(AP_MOTORS_HELI_SINGLE_AUX, calc_pwm_output_0to1(servo_out, _servo_aux)); if (_servo_aux) {
rc_write(AP_MOTORS_HELI_SINGLE_AUX, calc_pwm_output_0to1(servo_out, _servo_aux));
}
} }
// servo_test - move servos through full range of movement // servo_test - move servos through full range of movement