From de4a4a775a73f02815a7a5d6b7942f9b9e5a20ef Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Wed, 1 Dec 2021 17:35:26 +1100 Subject: [PATCH] Plane: fixed use before init bug in VTOL land found by Peter Barker with valgrind --- ArduPlane/commands_logic.cpp | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/ArduPlane/commands_logic.cpp b/ArduPlane/commands_logic.cpp index 9dbe16eb70..7af71cc5a4 100644 --- a/ArduPlane/commands_logic.cpp +++ b/ArduPlane/commands_logic.cpp @@ -29,9 +29,10 @@ bool Plane::start_command(const AP_Mission::Mission_Command& cmd) AP_Mission::Mission_Command next_nav_cmd; const uint16_t next_index = mission.get_current_nav_index() + 1; - auto_state.wp_is_land_approach = mission.get_next_nav_cmd(next_index, next_nav_cmd) && (next_nav_cmd.id == MAV_CMD_NAV_LAND); + const bool have_next_cmd = mission.get_next_nav_cmd(next_index, next_nav_cmd); + auto_state.wp_is_land_approach = have_next_cmd && (next_nav_cmd.id == MAV_CMD_NAV_LAND); #if HAL_QUADPLANE_ENABLED - if (quadplane.is_vtol_land(next_nav_cmd.id)) { + if (have_next_cmd && quadplane.is_vtol_land(next_nav_cmd.id)) { auto_state.wp_is_land_approach = false; } #endif