Double-check link status after signal comes through

9cafe6ae · Don Gagne · 168dc77b · 9cafe6ae
Commit 9cafe6ae authored Jan 12, 2016 by Don Gagne
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Vehicle.cc src/Vehicle/Vehicle.cc +5 -0

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--- a/src/Vehicle/Vehicle.cc
+++ b/src/Vehicle/Vehicle.cc
@@ -449,6 +449,11 @@ bool Vehicle::sendMessageOnLink(LinkInterface* link, mavlink_message_t message)

 void Vehicle::_sendMessageOnLink(LinkInterface* link, mavlink_message_t message)
 {
+    // Make sure this is still a good link
+    if (!link || !_links.contains(link) || !link->isConnected()) {
+        return;
+    }
+
    // Give the plugin a chance to adjust
    _firmwarePlugin->adjustMavlinkMessage(this, &message);