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AC_PID: use NEW_NOTHROW for new(std::nothrow)

This commit is contained in:
Andrew Tridgell 2024-05-27 11:24:08 +10:00
parent c95624a040
commit 4c41805a3d
2 changed files with 4 additions and 4 deletions
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4
libraries/AC_PID/AC_PID.cpp
View File

@ -162,7 +162,7 @@ void AC_PID::set_notch_sample_rate(float sample_rate)
if (_notch_T_filter != 0) {
if (_target_notch == nullptr) {
_target_notch = new NotchFilterFloat();
_target_notch = NEW_NOTHROW NotchFilterFloat();
}
AP_Filter* filter = AP::filters().get_filter(_notch_T_filter);
if (filter != nullptr && !filter->setup_notch_filter(*_target_notch, sample_rate)) {
@ -174,7 +174,7 @@ void AC_PID::set_notch_sample_rate(float sample_rate)
if (_notch_E_filter != 0) {
if (_error_notch == nullptr) {
_error_notch = new NotchFilterFloat();
_error_notch = NEW_NOTHROW NotchFilterFloat();
}
AP_Filter* filter = AP::filters().get_filter(_notch_E_filter);
if (filter != nullptr && !filter->setup_notch_filter(*_error_notch, sample_rate)) {

4
libraries/AC_PID/examples/AC_PID_test/AC_PID_test.cpp
View File

@ -70,8 +70,8 @@ void setup()
void loop()
{
// setup (unfortunately must be done here as we cannot create a global AC_PID object)
AC_PID *pid = new AC_PID(TEST_P, TEST_I, TEST_D, 0.0f, TEST_IMAX * 100.0f, 0.0f, 0.0f, TEST_FILTER);
// AC_HELI_PID *heli_pid= new AC_HELI_PID(TEST_P, TEST_I, TEST_D, TEST_INITIAL_FF, TEST_IMAX * 100, 0.0f, 0.0f, TEST_FILTER);
AC_PID *pid = NEW_NOTHROW AC_PID(TEST_P, TEST_I, TEST_D, 0.0f, TEST_IMAX * 100.0f, 0.0f, 0.0f, TEST_FILTER);
// AC_HELI_PID *heli_pid= NEW_NOTHROW AC_HELI_PID(TEST_P, TEST_I, TEST_D, TEST_INITIAL_FF, TEST_IMAX * 100, 0.0f, 0.0f, TEST_FILTER);
// display PID gains
hal.console->printf("P %f I %f D %f imax %f\n", (double)pid->kP(), (double)pid->kI(), (double)pid->kD(), (double)pid->imax());