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ArduPlane: Fix use of nullptr when AC_FENCE configured as DISABLED

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Parameter upgrade needs to grab singleton as the fence library may not be built in to plane.
This commit is contained in:
James O'Shannessy 2021-03-05 15:15:26 +11:00 committed by Peter Barker
parent bcc0da9c47
commit 198ec9a678
1 changed files with 7 additions and 1 deletions
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8
ArduPlane/Parameters.cpp
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@ -1496,7 +1496,13 @@ void Plane::load_parameters(void)
enum ap_var_type ptype_fence_enable; enum ap_var_type ptype_fence_enable;
AP_Int8 *fence_enable = (AP_Int8*)AP_Param::find("FENCE_ENABLE", &ptype_fence_enable); AP_Int8 *fence_enable = (AP_Int8*)AP_Param::find("FENCE_ENABLE", &ptype_fence_enable);
// fences were used if there was a count, and the old fence action was not zero // fences were used if there was a count, and the old fence action was not zero
bool fences_exist = AP::fence()->polyfence().total_fence_count() > 0; AC_Fence *ap_fence = AP::fence();
bool fences_exist = false;
if (ap_fence) {
// If the fence library is present, attempt to read the fence count
fences_exist = ap_fence->polyfence().total_fence_count() > 0;
}
bool fences_used = fence_action_old.get() != 0; bool fences_used = fence_action_old.get() != 0;
if (fence_enable && !fence_enable->configured()) { if (fence_enable && !fence_enable->configured()) {
// The fence enable parameter exists, so now set it accordingly // The fence enable parameter exists, so now set it accordingly