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fix(gps): guard against NULL serial port when GPS provider changed without reboot #11634

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fix(gps): guard against NULL serial port when GPS provider changed without reboot #11634

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11 changes: 11 additions & 0 deletions src/main/io/gps.c
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Original file line number Diff line number Diff line change
Expand Up @@ -547,6 +547,13 @@ bool gpsUpdate(void)
}
#endif

// Driver-based providers (MSP, FAKE) never open a serial port; gpsPort stays NULL.
// If gps_provider is changed via CLI to a serial-based provider without rebooting,
// the serial handler would dereference NULL on the next tick and hard-fault.
if (!gpsProviders[gpsState.gpsConfig->provider].isDriverBased && !gpsState.gpsPort) {
return false;
}

switch (gpsState.state) {
default:
case GPS_INITIALIZING:
Expand Down Expand Up @@ -597,6 +604,10 @@ bool gpsUpdate(void)

void gpsEnablePassthrough(serialPort_t *gpsPassthroughPort)
{
if (!gpsState.gpsPort) {
return;
}

waitForSerialPortToFinishTransmitting(gpsState.gpsPort);
waitForSerialPortToFinishTransmitting(gpsPassthroughPort);

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3 changes: 3 additions & 0 deletions src/test/unit/CMakeLists.txt
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Expand Up @@ -40,6 +40,9 @@ set_property(SOURCE osd_unittest.cc PROPERTY definitions OSD_UNIT_TEST USE_MSP_D
set_property(SOURCE gps_ublox_unittest.cc PROPERTY depends "io/gps_ublox_utils.c")
set_property(SOURCE gps_ublox_unittest.cc PROPERTY definitions GPS_UBLOX_UNIT_TEST)

set_property(SOURCE gps_null_port_unittest.cc PROPERTY depends "io/gps.c")
set_property(SOURCE gps_null_port_unittest.cc PROPERTY definitions GPS_NULL_PORT_UNIT_TEST USE_GPS_PROTO_UBLOX)

set_property(SOURCE gimbal_serial_unittest.cc PROPERTY depends "io/gimbal_serial.c" "drivers/gimbal_common.c" "common/maths.c" "drivers/headtracker_common.c")
set_property(SOURCE gimbal_serial_unittest.cc PROPERTY definitions USE_SERIAL_GIMBAL GIMBAL_UNIT_TEST USE_HEADTRACKER)

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