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AP_OpticalFlow: prevent crash on bad device name

This commit is contained in:
Andrew Tridgell 2018-01-08 16:31:01 +11:00
parent 755eca31c2
commit ddf8523c2b
1 changed files with 3 additions and 0 deletions
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3
libraries/AP_OpticalFlow/AP_OpticalFlow_Pixart.cpp
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@ -104,6 +104,9 @@ AP_OpticalFlow_Pixart *AP_OpticalFlow_Pixart::detect(OpticalFlow &_frontend)
// setup the device // setup the device
bool AP_OpticalFlow_Pixart::setup_sensor(void) bool AP_OpticalFlow_Pixart::setup_sensor(void)
{ {
if (!_dev) {
return false;
}
if (!_dev->get_semaphore()->take(HAL_SEMAPHORE_BLOCK_FOREVER)) { if (!_dev->get_semaphore()->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
AP_HAL::panic("Unable to get bus semaphore"); AP_HAL::panic("Unable to get bus semaphore");
} }