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Fixing null deref error when VBAT is not set. 

If VBAT is not configured, batteryConfig is null.  This will
possibly set the vbatPidCompensation to an unknown value.
This change checkes for the validity of batteryConfig before
defining the values to be used.
This commit is contained in:
JOhn Aughey 2016-04-28 13:50:03 -05:00
parent 091aa24249
commit 6d15c03813
1 changed files with 6 additions and 3 deletions
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9
src/main/flight/mixer.c
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@ -753,6 +753,11 @@ void mixTable(void)
uint32_t i;
fix12_t vbatCompensationFactor;
static fix12_t mixReduction;
bool use_vbat_compensation = false;
if (batteryConfig && batteryConfig->vbatPidCompensation) {
use_vbat_compensation = true;
vbatCompensationFactor = calculateVbatPidCompensation();
}
bool isFailsafeActive = failsafeIsActive(); // TODO - Find out if failsafe checks are really needed here in mixer code
@ -766,8 +771,6 @@ void mixTable(void)
int16_t rollPitchYawMixMax = 0; // assumption: symetrical about zero.
int16_t rollPitchYawMixMin = 0;
if (batteryConfig->vbatPidCompensation) vbatCompensationFactor = calculateVbatPidCompensation(); // Calculate voltage compensation
// Find roll/pitch/yaw desired output
for (i = 0; i < motorCount; i++) {
rollPitchYawMix[i] =
@ -775,7 +778,7 @@ void mixTable(void)
axisPID[ROLL] * currentMixer[i].roll +
-mixerConfig->yaw_motor_direction * axisPID[YAW] * currentMixer[i].yaw;
if (batteryConfig->vbatPidCompensation) rollPitchYawMix[i] = qMultiply(vbatCompensationFactor, rollPitchYawMix[i]); // Add voltage compensation
if (use_vbat_compensation) rollPitchYawMix[i] = qMultiply(vbatCompensationFactor, rollPitchYawMix[i]); // Add voltage compensation
if (rollPitchYawMix[i] > rollPitchYawMixMax) rollPitchYawMixMax = rollPitchYawMix[i];
if (rollPitchYawMix[i] < rollPitchYawMixMin) rollPitchYawMixMin = rollPitchYawMix[i];