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GCS_MAVLink: cope with MAV_CMD_ACCELCAL_VEHICLE_POS outside accelcal

This commit is contained in:
Peter Barker 2021-07-31 22:22:16 +10:00 committed by Andrew Tridgell
parent eb638a5267
commit 76c4af6aef
1 changed files with 2 additions and 1 deletions
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3
libraries/GCS_MAVLink/GCS_Common.cpp
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@ -4021,7 +4021,8 @@ MAV_RESULT GCS_MAVLINK::handle_command_do_sprayer(const mavlink_command_long_t &
MAV_RESULT GCS_MAVLINK::handle_command_accelcal_vehicle_pos(const mavlink_command_long_t &packet) MAV_RESULT GCS_MAVLINK::handle_command_accelcal_vehicle_pos(const mavlink_command_long_t &packet)
{ {
if (!AP::ins().get_acal()->gcs_vehicle_position(packet.param1)) { if (AP::ins().get_acal() == nullptr ||
!AP::ins().get_acal()->gcs_vehicle_position(packet.param1)) {
return MAV_RESULT_FAILED; return MAV_RESULT_FAILED;
} }
return MAV_RESULT_ACCEPTED; return MAV_RESULT_ACCEPTED;