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AP_Common: add initialised() method to Location 

Sometimes code paths are crossed when they shouldn't be.  This method
can help in the short term if a codepath is calling methods on a
Location when it is not initialised, but generally a vehicle should be
calling position_ok() and other methods rather than this one.
This commit is contained in:
Peter Barker 2019-06-15 17:59:32 +10:00 committed by Randy Mackay
parent e3da6d69d5
commit 4e5842a150
2 changed files with 3 additions and 1 deletions
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2
libraries/AP_Common/Location.cpp
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@ -103,7 +103,7 @@ Location::AltFrame Location::get_alt_frame() const
bool Location::get_alt_cm(AltFrame desired_frame, int32_t &ret_alt_cm) const bool Location::get_alt_cm(AltFrame desired_frame, int32_t &ret_alt_cm) const
{ {
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
if (lat == 0 && lng == 0) { if (!initialised()) {
AP_HAL::panic("Should not be called on invalid location"); AP_HAL::panic("Should not be called on invalid location");
} }
#endif #endif

2
libraries/AP_Common/Location.h
View File

@ -112,6 +112,8 @@ public:
*/ */
float line_path_proportion(const Location &point1, const Location &point2) const; float line_path_proportion(const Location &point1, const Location &point2) const;
bool initialised() const { return (lat !=0 || lng != 0); }
private: private:
static AP_Terrain *_terrain; static AP_Terrain *_terrain;