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AP_RangeFinder: LightWareI2C: allow detect method to fail

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If bus isn't found, allow the detect() method to fail.
This commit is contained in:
Lucas De Marchi 2016-07-12 18:54:16 -03:00
parent 0193517f30
commit ae259bc563
1 changed files with 3 additions and 2 deletions
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5
libraries/AP_RangeFinder/AP_RangeFinder_LightWareI2C.cpp
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@ -45,7 +45,7 @@ AP_RangeFinder_Backend *AP_RangeFinder_LightWareI2C::detect(RangeFinder &_ranger
uint16_t reading_cm;
if (!sensor->get_reading(reading_cm)) {
if (!sensor || !sensor->get_reading(reading_cm)) {
delete sensor;
return nullptr;
}
@ -63,7 +63,7 @@ bool AP_RangeFinder_LightWareI2C::get_reading(uint16_t &reading_cm)
}
// exit immediately if we can't take the semaphore
if (!_dev->get_semaphore()->take(1)) {
if (!_dev || _dev->get_semaphore()->take(1)) {
return false;
}
@ -75,6 +75,7 @@ bool AP_RangeFinder_LightWareI2C::get_reading(uint16_t &reading_cm)
}
_dev->get_semaphore()->give();
return ret;
}