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Fixing a null dereference in the case that VBAT is not defined

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This commit is contained in:
JOhn Aughey 2016-05-03 17:45:37 -05:00
parent fd245bb8f8
commit cb39345dd3
1 changed files with 8 additions and 3 deletions
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11
src/main/flight/mixer.c
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@ -751,8 +751,13 @@ STATIC_UNIT_TESTED void servoMixer(void)
void mixTable(void) void mixTable(void)
{ {
uint32_t i; uint32_t i;
fix12_t vbatCompensationFactor; fix12_t vbatCompensationFactor = 0;
static fix12_t mixReduction; 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 bool isFailsafeActive = failsafeIsActive(); // TODO - Find out if failsafe checks are really needed here in mixer code
@ -766,7 +771,7 @@ void mixTable(void)
int16_t rollPitchYawMixMax = 0; // assumption: symetrical about zero. int16_t rollPitchYawMixMax = 0; // assumption: symetrical about zero.
int16_t rollPitchYawMixMin = 0; int16_t rollPitchYawMixMin = 0;
if (batteryConfig->vbatPidCompensation) vbatCompensationFactor = calculateVbatPidCompensation(); // Calculate voltage compensation if (use_vbat_compensation) rollPitchYawMix[i] = qMultiply(vbatCompensationFactor, rollPitchYawMix[i]); // Add voltage compensation
// Find roll/pitch/yaw desired output // Find roll/pitch/yaw desired output
for (i = 0; i < motorCount; i++) { for (i = 0; i < motorCount; i++) {
@ -775,7 +780,7 @@ void mixTable(void)
axisPID[ROLL] * currentMixer[i].roll + axisPID[ROLL] * currentMixer[i].roll +
-mixerConfig->yaw_motor_direction * axisPID[YAW] * currentMixer[i].yaw; -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] > rollPitchYawMixMax) rollPitchYawMixMax = rollPitchYawMix[i];
if (rollPitchYawMix[i] < rollPitchYawMixMin) rollPitchYawMixMin = rollPitchYawMix[i]; if (rollPitchYawMix[i] < rollPitchYawMixMin) rollPitchYawMixMin = rollPitchYawMix[i];