From 54c3e7f74b53795936720a664ee4fbaf7f7a5e3d Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Mon, 2 Jan 2023 08:33:22 +1100
Subject: [PATCH] AP_HAL_Linux: check for alloc failure of ObjectBuffer

---
 libraries/AP_HAL_Linux/OpticalFlow_Onboard.cpp | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/libraries/AP_HAL_Linux/OpticalFlow_Onboard.cpp b/libraries/AP_HAL_Linux/OpticalFlow_Onboard.cpp
index 1c58a5223b..981afc77bb 100644
--- a/libraries/AP_HAL_Linux/OpticalFlow_Onboard.cpp
+++ b/libraries/AP_HAL_Linux/OpticalFlow_Onboard.cpp
@@ -171,6 +171,11 @@ void OpticalFlow_Onboard::init()
     }
 
     _gyro_ring_buffer = new ObjectBuffer<GyroSample>(OPTICAL_FLOW_GYRO_BUFFER_LEN);
+    if (_gyro_ring_buffer != nullptr && _gyro_ring_buffer->get_size() == 0) {
+        // allocation failed
+        delete _gyro_ring_buffer;
+        _gyro_ring_buffer = nullptr;
+    }
 
     _initialized = true;
 }