From 9cafe6ae9f3c89595cbe6030830ce75a2d0fab88 Mon Sep 17 00:00:00 2001
From: Don Gagne <don@thegagnes.com>
Date: Tue, 12 Jan 2016 18:32:29 -0800
Subject: [PATCH] Double-check link status after signal comes through

---
 src/Vehicle/Vehicle.cc | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/src/Vehicle/Vehicle.cc b/src/Vehicle/Vehicle.cc
index af3a5a11f..076217e3b 100644
--- 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);
 
-- 
2.22.0