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AP_NavEKF3: fixed segfault when IMU mask covers more IMUs than GSF mask

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This commit is contained in:
Andrew Tridgell 2020-08-27 18:33:30 +10:00
parent 6ee527d3e0
commit 458ade86f5
2 changed files with 3 additions and 2 deletions
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3
libraries/AP_NavEKF3/AP_NavEKF3_MagFusion.cpp
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@ -246,7 +246,8 @@ void NavEKF3_core::SelectMagFusion()
}
float yawEKFGSF, yawVarianceEKFGSF;
bool canUseEKFGSF = yawEstimator->getYawData(yawEKFGSF, yawVarianceEKFGSF) &&
bool canUseEKFGSF = yawEstimator != nullptr &&
yawEstimator->getYawData(yawEKFGSF, yawVarianceEKFGSF) &&
is_positive(yawVarianceEKFGSF) && yawVarianceEKFGSF < sq(radians(GSF_YAW_ACCURACY_THRESHOLD_DEG));
if (yawAlignComplete && canUseEKFGSF && !assume_zero_sideslip()) {
// use the EKF-GSF yaw estimator output as this is more robust than the EKF can achieve without a yaw measurement

2
libraries/AP_NavEKF3/AP_NavEKF3_VehicleStatus.cpp
View File

@ -410,7 +410,7 @@ void NavEKF3_core::detectFlight()
if (!prevOnGround && onGround) {
// landed so disable filter bank
EKFGSF_run_filterbank = false;
} else if (!EKFGSF_run_filterbank && ((!prevInFlight && inFlight) || expectTakeoff)) {
} else if (yawEstimator && !EKFGSF_run_filterbank && ((!prevInFlight && inFlight) || expectTakeoff)) {
// started flying so reset counters and enable filter bank
EKFGSF_yaw_reset_ms = 0;
EKFGSF_yaw_reset_request_ms = 0;