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FlightTasks: hotfix guard against accessing no task 

Safety guard for null pointer exception when accessing the current task
when none is running. This could only happen if the running task
was changed during the update because of command handling failing.

Note: This is fixed on master in a different, better way.
This commit is contained in:
Matthias Grob 2021-01-26 16:30:59 +01:00
parent a6274bc5ed
commit 21c82a4814
1 changed files with 12 additions and 2 deletions
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14
src/lib/flight_tasks/FlightTasks.hpp
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@ -150,14 +150,24 @@ public:
/**
* Sets an external yaw handler. The active flight task can use the yaw handler to implement a different yaw control strategy.
*/
void setYawHandler(WeatherVane *ext_yaw_handler) {_current_task.task->setYawHandler(ext_yaw_handler);}
void setYawHandler(WeatherVane *ext_yaw_handler)
{
if (isAnyTaskActive()) {
_current_task.task->setYawHandler(ext_yaw_handler);
}
}
/**
* This method will re-activate current task.
*/
void reActivate();
void updateVelocityControllerIO(const matrix::Vector3f &vel_sp, const matrix::Vector3f &thrust_sp) {_current_task.task->updateVelocityControllerIO(vel_sp, thrust_sp); }
void updateVelocityControllerIO(const matrix::Vector3f &vel_sp, const matrix::Vector3f &thrust_sp)
{
if (isAnyTaskActive()) {
_current_task.task->updateVelocityControllerIO(vel_sp, thrust_sp);
}
}
private: