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AP_NavEKF2: Fix possible compass nullptr dereference

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Michael du Breuil 2017-07-31 12:22:15 -07:00 committed by Andrew Tridgell
parent 6b72a025d4
commit b09b7f7867
1 changed files with 4 additions and 0 deletions
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4
libraries/AP_NavEKF2/AP_NavEKF2_Outputs.cpp
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@ -403,6 +403,10 @@ void NavEKF2_core::getMagXYZ(Vector3f &magXYZ) const
// return true if offsets are valid
bool NavEKF2_core::getMagOffsets(uint8_t mag_idx, Vector3f &magOffsets) const
{
if (!_ahrs->get_compass()) {
return false;
}
// compass offsets are valid if we have finalised magnetic field initialisation, magnetic field learning is not prohibited,
// primary compass is valid and state variances have converged
const float maxMagVar = 5E-6f;