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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/voted_sensors_update.cpp
+2 -1
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@@ -87,7 +87,8 @@ void VotedSensorsUpdate::parametersUpdate()
uORB::SubscriptionData<vehicle_imu_s> imu{ORB_ID(vehicle_imu), uorb_index};
imu.update();
if (imu.get().timestamp > 0 && imu.get().accel_device_id > 0 && imu.get().gyro_device_id > 0) {
if (imu.advertised() && (imu.get().timestamp != 0)
&& (imu.get().accel_device_id != 0) && (imu.get().gyro_device_id != 0)) {
// find corresponding configured accel priority
int8_t accel_cal_index = calibration::FindCurrentCalibrationIndex("ACC", imu.get().accel_device_id);