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Segmentation Fault: NULL->llh (#3484)

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This commit is contained in:
Christophe De Wagter
2025-06-26 09:14:16 +02:00
committed by GitHub
parent c1203b04e8
commit 06c0b2f4ed
1 changed files with 12 additions and 2 deletions
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sw/airborne/modules/datalink/mavlink.c
+12 -2
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@@ -403,7 +403,12 @@ void mavlink_common_message_handler(const mavlink_message_t *msg)
lla.lat = target.lat_int;
lla.lon = target.lon_int;
lla.alt = MM_OF_M(target.alt);
ned_of_lla_point_i(&ned, stateGetNedOrigin_i(), &lla);
struct LtpDef_i *origin = stateGetNedOrigin_i();
if (origin == NULL) {
MAVLINK_DEBUG("NED origin not set, cannot set target position\n");
return;
}
ned_of_lla_point_i(&ned, origin, &lla);
//NED_FLOAT_OF_BFP(ned_f, ned);
//autopilot_guided_goto_ned(ned_f.x, ned_f.y, ned_f.z, target.yaw);
waypoint_set_latlon(WP_ML_global_target, &lla);
@@ -656,7 +661,12 @@ static void mavlink_send_global_position_int(struct transport_tx *trans, struct
}
uint16_t compass_heading = heading * 100;
int32_t relative_alt = stateGetPositionLla_i()->alt - stateGetLlaOrigin_i().alt;
int32_t hmsl_alt = stateGetHmslOrigin_i() - stateGetNedOrigin_i()->alt;
int32_t origin_alt = 0;
struct LtpDef_i *ned_origin = stateGetNedOrigin_i();
if (ned_origin != NULL) {
origin_alt = ned_origin->lla.alt;
}
int32_t hmsl_alt = stateGetHmslOrigin_i() - origin_alt;
/// TODO: check/ask what coordinate system vel is supposed to be in, not clear from docs
mavlink_msg_global_position_int_send(MAVLINK_COMM_0,
get_sys_time_msec(),