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sensors: check uORB::SubscriptionData validity before use

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This commit is contained in:
Daniel Agar
2022-02-08 13:19:01 -05:00
parent 21b78f9d05
commit 86f81680fb
4 changed files with 31 additions and 18 deletions
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src/modules/sensors/sensors.cpp
+3 -3
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@@ -344,7 +344,7 @@ int Sensors::parameters_update()
// sensor_accel
uORB::SubscriptionData<sensor_accel_s> sensor_accel_sub{ORB_ID(sensor_accel), i};
if (sensor_accel_sub.get().device_id != 0) {
if (sensor_accel_sub.advertised() && (sensor_accel_sub.get().device_id != 0)) {
calibration::Accelerometer cal;
cal.set_calibration_index(i);
cal.ParametersLoad();
@@ -353,7 +353,7 @@ int Sensors::parameters_update()
// sensor_gyro
uORB::SubscriptionData<sensor_gyro_s> sensor_gyro_sub{ORB_ID(sensor_gyro), i};
if (sensor_gyro_sub.get().device_id != 0) {
if (sensor_gyro_sub.advertised() && (sensor_gyro_sub.get().device_id != 0)) {
calibration::Gyroscope cal;
cal.set_calibration_index(i);
cal.ParametersLoad();
@@ -362,7 +362,7 @@ int Sensors::parameters_update()
// sensor_mag
uORB::SubscriptionData<sensor_mag_s> sensor_mag_sub{ORB_ID(sensor_mag), i};
if (sensor_mag_sub.get().device_id != 0) {
if (sensor_mag_sub.advertised() && (sensor_mag_sub.get().device_id != 0)) {
calibration::Magnetometer cal;
cal.set_calibration_index(i);
cal.ParametersLoad();