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AP_Camera: avoid SITL panic if pic taken with no pos estimate #29558

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Merged
peterbarker merged 1 commit into from
Mar 18, 2025
Merged

AP_Camera: avoid SITL panic if pic taken with no pos estimate #29558

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10 changes: 4 additions & 6 deletions libraries/AP_Camera/AP_Camera_Logging.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -30,15 +30,13 @@ void AP_Camera_Backend::Write_CameraInfo(enum LogMessages msg, uint64_t timestam
}

int32_t altitude_cm = 0;
if (!current_loc.get_alt_cm(Location::AltFrame::ABSOLUTE, altitude_cm)) {
// ignore this problem...
}
int32_t altitude_rel_cm = 0;
if (!current_loc.get_alt_cm(Location::AltFrame::ABOVE_HOME, altitude_rel_cm)) {
// ignore this problem...
if (current_loc.initialised()) {
// ignore failures to get altitude
IGNORE_RETURN(current_loc.get_alt_cm(Location::AltFrame::ABSOLUTE, altitude_cm));
IGNORE_RETURN(current_loc.get_alt_cm(Location::AltFrame::ABOVE_HOME, altitude_rel_cm));
}


int32_t altitude_gps_cm = 0;
const AP_GPS &gps = AP::gps();
if (gps.status() >= AP_GPS::GPS_OK_FIX_3D) {
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