Fixed NULL pointer issue if no MAV is connected

src/uas/UAS.cc

@@ -535,7 +535,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
         {
             mavlink_global_position_int_t pos;
             mavlink_msg_global_position_int_decode(&message, &pos);
-            quint64 time = QGC::groundTimeUsecs()/1000;
+            quint64 time = getUnixTime();
             latitude = pos.lat/(double)1E7;
             longitude = pos.lon/(double)1E7;
             altitude = pos.alt/1000.0;
@@ -562,7 +562,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
         case MAVLINK_MSG_ID_GLOBAL_POSITION: {
             mavlink_global_position_t pos;
             mavlink_msg_global_position_decode(&message, &pos);
-            quint64 time = QGC::groundTimeUsecs()/1000;
+            quint64 time = getUnixTime();
             latitude = pos.lat;
             longitude = pos.lon;
             altitude = pos.alt;
@@ -845,7 +845,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
         case MAVLINK_MSG_ID_SERVO_OUTPUT_RAW: {
             mavlink_servo_output_raw_t servos;
             mavlink_msg_servo_output_raw_decode(&message, &servos);
-            quint64 time = getUnixTime(0);
+            quint64 time = getUnixTime();
             emit valueChanged(uasId, "servo #1", "us", servos.servo1_raw, time);
             emit valueChanged(uasId, "servo #2", "us", servos.servo2_raw, time);
             emit valueChanged(uasId, "servo #3", "us", servos.servo3_raw, time);
@@ -939,7 +939,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
         case MAVLINK_MSG_ID_NAV_FILTER_BIAS: {
             mavlink_nav_filter_bias_t bias;
             mavlink_msg_nav_filter_bias_decode(&message, &bias);
-            quint64 time = MG::TIME::getGroundTimeNow();
+            quint64 time = getUnixTime();
             emit valueChanged(uasId, "b_f[0]", "raw", bias.accel_0, time);
             emit valueChanged(uasId, "b_f[1]", "raw", bias.accel_1, time);
             emit valueChanged(uasId, "b_f[2]", "raw", bias.accel_2, time);
@@ -985,7 +985,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
             if (!unknownPackets.contains(message.msgid)) {
                 unknownPackets.append(message.msgid);
                 QString errString = tr("UNABLE TO DECODE MESSAGE NUMBER %1").arg(message.msgid);
-                GAudioOutput::instance()->say(errString+tr(", please check the communication console for details."));
+                GAudioOutput::instance()->say(errString+tr(", please check console for details."));
                 emit textMessageReceived(uasId, message.compid, 255, errString);
                 std::cout << "Unable to decode message from system " << std::dec << static_cast<int>(message.sysid) << " with message id:" << static_cast<int>(message.msgid) << std::endl;
                 //qDebug() << std::cerr << "Unable to decode message from system " << std::dec << static_cast<int>(message.acid) << " with message id:" << static_cast<int>(message.msgid) << std::endl;

src/ui/QGCParamWidget.cc

@@ -416,6 +416,7 @@ void QGCParamWidget::addParameter(int uas, int component, QString parameterName,
  */
 void QGCParamWidget::requestParameterList()
 {
+    if (!mav) return;
     // FIXME This call does not belong here
     // Once the comm handling is moved to a new
     // Param manager class the settings can be directly
@@ -487,6 +488,7 @@ void QGCParamWidget::parameterItemChanged(QTreeWidgetItem* current, int column)
 
 void QGCParamWidget::saveParameters()
 {
+    if (!mav) return;
     QString fileName = QFileDialog::getSaveFileName(this, tr("Save File"), "./parameters.txt", tr("Parameter File (*.txt)"));
     QFile file(fileName);
     if (!file.open(QIODevice::WriteOnly | QIODevice::Text)) {
@@ -520,6 +522,7 @@ void QGCParamWidget::saveParameters()
 
 void QGCParamWidget::loadParameters()
 {
+    if (!mav) return;
     QString fileName = QFileDialog::getOpenFileName(this, tr("Load File"), ".", tr("Parameter file (*.txt)"));
     QFile file(fileName);
     if (!file.open(QIODevice::ReadOnly | QIODevice::Text))
@@ -749,11 +752,13 @@ void QGCParamWidget::setParameters()
  */
 void QGCParamWidget::writeParameters()
 {
+    if (!mav) return;
     mav->writeParametersToStorage();
 }
 
 void QGCParamWidget::readParameters()
 {
+    if (!mav) return;
     mav->readParametersFromStorage();
 }