AP_AHRS: add semaphore around set_origin

added semaphore around set_origin() to prevent thread racing
2021-07-02 17:04:02 +02:00 · 2021-07-02 17:04:02 +02:00 · 396a27b17e
commit 396a27b17e
parent c34322f6ce
1 changed files with 1 additions and 0 deletions
--- a/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
+++ b/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
@ -972,6 +972,7 @@ Vector2f AP_AHRS_NavEKF::groundspeed_vector(void)
 // from which to decide the origin on its own
 bool AP_AHRS_NavEKF::set_origin(const Location &loc)
 {
+    WITH_SEMAPHORE(_rsem);
 #if HAL_NAVEKF2_AVAILABLE
    const bool ret2 = EKF2.setOriginLLH(loc);
 #endif