AP_DAL: add rangefinder null guard#32827
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peterbarker
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Apr 18, 2026
| if (_RRNH.num_sensors > 0 && _RRNI == nullptr) { | ||
| _RRNI = NEW_NOTHROW log_RRNI[_RRNH.num_sensors]; | ||
| _backend = NEW_NOTHROW AP_DAL_RangeFinder_Backend *[_RRNH.num_sensors]; | ||
| _backend = NEW_NOTHROW AP_DAL_RangeFinder_Backend *[_RRNH.num_sensors]{}; |
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What does this change accomplish?
| for (uint8_t i=0; i<_RRNH.num_sensors; i++) { | ||
| auto *backend = rangefinder->get_backend(i); | ||
| if (backend == nullptr) { | ||
| if (backend == nullptr || _backend[i] == nullptr) { |
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Is there any flow path through ArduPilot which can result in _backend[i] being nullptr?
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This draft isolates the AP_DAL rangefinder null-guard fix from the larger hardening branch.
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