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AP_VisualOdom: Check for driver availability first

This commit is contained in:
muramura 2023-07-02 11:22:20 +09:00 committed by Peter Barker
parent 7b8bc6b00b
commit 9bcc26046c
1 changed files with 6 additions and 6 deletions
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12
libraries/AP_VisualOdom/AP_VisualOdom.cpp
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@ -258,18 +258,18 @@ bool AP_VisualOdom::pre_arm_check(char *failure_msg, uint8_t failure_msg_len) co
return true;
}
// check healthy
if (!healthy()) {
hal.util->snprintf(failure_msg, failure_msg_len, "not healthy");
return false;
}
// if no backend we must have failed to create because out of memory
if (_driver == nullptr) {
hal.util->snprintf(failure_msg, failure_msg_len, "out of memory");
return false;
}
// check healthy
if (!healthy()) {
hal.util->snprintf(failure_msg, failure_msg_len, "not healthy");
return false;
}
// call backend specific arming check
return _driver->pre_arm_check(failure_msg, failure_msg_len);
}