From fe5234694c66378115b82f4605b27a0850324d25 Mon Sep 17 00:00:00 2001
From: Gus Grubba <mavlink@grubba.com>
Date: Wed, 7 Dec 2016 16:33:54 -0500
Subject: [PATCH] Adding a crash guard for when a command resend timeout occurs
 with an empty command queue.

---
 src/Vehicle/Vehicle.cc | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/src/Vehicle/Vehicle.cc b/src/Vehicle/Vehicle.cc
index 82afb8489..6f7bf3519 100644
--- a/src/Vehicle/Vehicle.cc
+++ b/src/Vehicle/Vehicle.cc
@@ -1838,6 +1838,12 @@ void Vehicle::sendMavCommand(int component, MAV_CMD command, bool showError, flo
 
 void Vehicle::_sendMavCommandAgain(void)
 {
+    if(!_mavCommandQueue.size()) {
+        qWarning() << "Command resend with no commands in queue";
+        _mavCommandAckTimer.stop();
+        return;
+    }
+
     MavCommandQueueEntry_t& queuedCommand = _mavCommandQueue[0];
 
     if (_mavCommandRetryCount++ > _mavCommandMaxRetryCount) {
-- 
2.22.0