fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-14 10:07:39 +08:00
Code Issues Packages Projects Releases Wiki Activity

gps: check for allocation failure & avoid busy loop

Browse Source
This commit is contained in:
Beat Küng 2017-03-27 11:25:13 +02:00 committed by Lorenz Meier
parent 1be639ec46
commit b5bb5cffc8
1 changed files with 5 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

7
src/drivers/gps/gps.cpp
View File

@ -712,7 +712,6 @@ GPS::task_main()
if (_helper != nullptr) {
delete (_helper);
/* set to zero to ensure parser is not used while not instantiated */
_helper = nullptr;
}
@ -742,7 +741,7 @@ GPS::task_main()
* MTK driver is not well tested, so we really only trust the UBX
* driver for an advance publication
*/
if (_helper->configure(_baudrate, GPSHelper::OutputMode::GPS) == 0) {
if (_helper && _helper->configure(_baudrate, GPSHelper::OutputMode::GPS) == 0) {
/* reset report */
memset(&_report_gps_pos, 0, sizeof(_report_gps_pos));
@ -840,11 +839,15 @@ GPS::task_main()
case GPS_DRIVER_MODE_ASHTECH:
_mode = GPS_DRIVER_MODE_UBX;
usleep(500000); // tried all possible drivers. Wait a bit before next round
break;
default:
break;
}
} else {
usleep(500000);
}
}