mission_item_protocol: guard against no master when running commands#1685
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peterbarker merged 1 commit intoMay 16, 2026
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Running 'wp list', 'fence list' or other commands before a vehicle is connected dereferenced self.master in request_list_send, raising AttributeError: 'NoneType' object has no attribute 'mav'. Add a no-master guard at the top of cmd_wp (the single entry point for all wp/fence/rally subcommands) plus defensive guards in fetch() and request_list_send(), which are documented as public for other modules. Fixes ArduPilot#1678 Signed-off-by: Evan Sarkar <evan.official666@gmail.com>
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Fixes #1678
Running
wp list,fence list, or any other subcommand from these modules before a vehicle is connected hits an unguardedself.master.mav.mission_request_list_send(...)inrequest_list_send()and crashes withAttributeError: 'NoneType' object has no attribute 'mav'.Fix
cmd_wp— added an earlyif self.master is Noneguard at the single entry point that dispatches every subcommand (list,clear,load,save,move,movemulti,changealt,changeframe,remove,update,param,status,ftp,ftpload, …). This protects everyself.master.mav.*callsite inside the helper methods those subcommands reach (e.g.cmd_clear-> mission_clear_all_send,cmd_load-> send_all_items,cmd_move/cmd_movemulti-> send_single_waypoint,change_mission_item_rangefrom changealt/changeframe,update_waypointsfrom cmd_update).fetch()— guarded too, since the docstring marks it as public for other modules to call.request_list_send()— guarded as defense-in-depth (this is the exact frame in the traceback).Message style and
if self.master is None: print(...); returnpattern matchmavproxy_mode.py/mavproxy_ftp.py.Audit notes
Other
self.master.mav.*references in this class (lines 437, 467, 515, 591, 683, 721, 842) live in internal helpers (send_single_waypoint,send_all_items,update_waypoints,change_mission_item_range,cmd_clear, etc.) that are only reachable viacmd_wporfetch(), so the entry-level guards cover them without adding redundant checks.idle_taskalready guards (line 305).commands()at line 901 uses a truthy check soself.master is Nonefalls through harmlessly.Test
flake8 clean (
AP_FLAKE8_CLEANhonored). With the patch,mavproxy.py --mapfollowed bywp list/fence list/rally listprintswp: no vehicle connected(etc.) and returns instead of tracing back.