From 0542ac0e5f6961b5d7a3d67ce82381f57e72e175 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Beat=20K=C3=BCng?= <beat-kueng@gmx.net>
Date: Tue, 21 Jan 2020 15:39:18 +0100
Subject: [PATCH] fix simulator_mavlink: orb_copy requires a valid data pointer

orb_copy() just returns if data==nullptr.

Fixes lockstep for ekf2. estimator_status.time_slip now stays constant
after startup, even with high speedup factor and high system load.
---
 src/modules/simulator/simulator_mavlink.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/src/modules/simulator/simulator_mavlink.cpp b/src/modules/simulator/simulator_mavlink.cpp
index 44ad3bc64e..103152434e 100644
--- a/src/modules/simulator/simulator_mavlink.cpp
+++ b/src/modules/simulator/simulator_mavlink.cpp
@@ -654,7 +654,8 @@ void Simulator::send()
 			}
 
 			if (fds_ekf2_timestamps[0].revents & POLLIN) {
-				orb_copy(ORB_ID(ekf2_timestamps), _ekf2_timestamps_sub, nullptr);
+				ekf2_timestamps_s timestamps;
+				orb_copy(ORB_ID(ekf2_timestamps), _ekf2_timestamps_sub, &timestamps);
 				state = State::WaitingForActuatorControls;
 			}
 		}