MAVLinkInterface: dont attempt command on closed port

RotorsAndCams · Dec 1, 2022 · 8ec26f7 · 8ec26f7
1 parent f7f7764
commit 8ec26f7
Showing 1 changed file with 6 additions and 0 deletions.
diff --git a/ExtLibs/ArduPilot/Mavlink/MAVLinkInterface.cs b/ExtLibs/ArduPilot/Mavlink/MAVLinkInterface.cs
@@ -2533,6 +2533,9 @@ public async Task<bool> doCommandAsync(byte sysid, byte compid, MAV_CMD actionid
             float p4,
             float p5, float p6, float p7, bool requireack = true, Action uicallback = null)
         {
+            if (BaseStream == null || BaseStream.IsOpen == false)
+                return false;
+
             MAVLinkMessage buffer;
 
             mavlink_command_long_t req = new mavlink_command_long_t
@@ -2690,6 +2693,9 @@ public async Task<bool> doCommandIntAsync(byte sysid, byte compid, MAV_CMD actio
             int p5, int p6, float p7, bool requireack = true, Action uicallback = null,
             MAV_FRAME frame = MAV_FRAME.GLOBAL)
         {
+            if (BaseStream == null || BaseStream.IsOpen == false)
+                return false;
+
             MAVLinkMessage buffer;
 
             mavlink_command_int_t req = new mavlink_command_int_t()