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Improve use of MAVSDK::first_autopilot()

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Check return value of MAVSDK::first_autopilot(). Before application
crashed if ArduPilot was not running.

Type: Improvement
Issue: https://denyspopov.atlassian.net/browse/AZ-17
This commit is contained in:
Tuomas Järvinen
2024-05-21 15:50:26 +02:00
parent ab791eb254
commit 2275a0a5ee
2 changed files with 14 additions and 5 deletions
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src/az_drone_controller.cpp
+10 -2
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@@ -73,8 +73,16 @@ bool AzDroneController::stateConnect(void)
bool AzDroneController::stateAutopilot(void)
{
// Get the first autopilot from the flight controller.
return (mSystem = mMavsdk.first_autopilot(3.0).value()) != nullptr;
std::optional<std::shared_ptr<System>> autopilot = mMavsdk.first_autopilot(AZ_GET_AUTOPILOT_TIMEOUT);
if (autopilot.has_value()) {
mSystem = autopilot.value();
return true;
}
else {
qCritical() << "MAVSDK::first_autopilot() failed";
return false;
}
}
bool AzDroneController::stateTelemetryModule(void)