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fix ashtech gps: _satellite_info can be nullptr

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This commit is contained in:
Beat Küng
2016-04-06 09:50:08 +02:00
committed by tumbili
parent 7ff80463be
commit 77cda58d73
1 changed files with 17 additions and 13 deletions
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src/drivers/gps/ashtech.cpp
+17 -13
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@@ -484,7 +484,7 @@ int ASHTECH::handle_message(int len)
return 0;
}
if ((this_msg_num == 0) && (bGPS == true)) {
if (this_msg_num == 0 && bGPS && _satellite_info) {
memset(_satellite_info->svid, 0, sizeof(_satellite_info->svid));
memset(_satellite_info->used, 0, sizeof(_satellite_info->used));
memset(_satellite_info->snr, 0, sizeof(_satellite_info->snr));
@@ -497,24 +497,28 @@ int ASHTECH::handle_message(int len)
if (this_msg_num == all_msg_num) {
end = tot_sv_visible - (this_msg_num - 1) * 4;
_gps_position->satellites_used = tot_sv_visible;
_satellite_info->count = satellite_info_s::SAT_INFO_MAX_SATELLITES;
_satellite_info->timestamp = hrt_absolute_time();
if (_satellite_info) {
_satellite_info->count = satellite_info_s::SAT_INFO_MAX_SATELLITES;
_satellite_info->timestamp = hrt_absolute_time();
}
}
for (int y = 0 ; y < end ; y++) {
if (bufptr && *(++bufptr) != ',') { sat[y].svid = strtol(bufptr, &endp, 10); bufptr = endp; }
if (_satellite_info) {
for (int y = 0 ; y < end ; y++) {
if (bufptr && *(++bufptr) != ',') { sat[y].svid = strtol(bufptr, &endp, 10); bufptr = endp; }
if (bufptr && *(++bufptr) != ',') { sat[y].elevation = strtol(bufptr, &endp, 10); bufptr = endp; }
if (bufptr && *(++bufptr) != ',') { sat[y].elevation = strtol(bufptr, &endp, 10); bufptr = endp; }
if (bufptr && *(++bufptr) != ',') { sat[y].azimuth = strtol(bufptr, &endp, 10); bufptr = endp; }
if (bufptr && *(++bufptr) != ',') { sat[y].azimuth = strtol(bufptr, &endp, 10); bufptr = endp; }
if (bufptr && *(++bufptr) != ',') { sat[y].snr = strtol(bufptr, &endp, 10); bufptr = endp; }
if (bufptr && *(++bufptr) != ',') { sat[y].snr = strtol(bufptr, &endp, 10); bufptr = endp; }
_satellite_info->svid[y + (this_msg_num - 1) * 4] = sat[y].svid;
_satellite_info->used[y + (this_msg_num - 1) * 4] = ((sat[y].snr > 0) ? true : false);
_satellite_info->snr[y + (this_msg_num - 1) * 4] = sat[y].snr;
_satellite_info->elevation[y + (this_msg_num - 1) * 4] = sat[y].elevation;
_satellite_info->azimuth[y + (this_msg_num - 1) * 4] = sat[y].azimuth;
_satellite_info->svid[y + (this_msg_num - 1) * 4] = sat[y].svid;
_satellite_info->used[y + (this_msg_num - 1) * 4] = ((sat[y].snr > 0) ? true : false);
_satellite_info->snr[y + (this_msg_num - 1) * 4] = sat[y].snr;
_satellite_info->elevation[y + (this_msg_num - 1) * 4] = sat[y].elevation;
_satellite_info->azimuth[y + (this_msg_num - 1) * 4] = sat[y].azimuth;
}
}
}