From 5fa2fcfa56c61710bbfb9feb6f916051ab583769 Mon Sep 17 00:00:00 2001
From: bnsgeyer <bnsgeyer@aol.com>
Date: Mon, 1 Jul 2024 17:56:23 -0400
Subject: [PATCH] AC_AutoTune: return freqresp ring buffers to original
 implementation

---
 .../AC_AutoTune/AC_AutoTune_FreqResp.cpp      | 20 ++++++-------------
 libraries/AC_AutoTune/AC_AutoTune_FreqResp.h  |  7 ++-----
 2 files changed, 8 insertions(+), 19 deletions(-)

diff --git a/libraries/AC_AutoTune/AC_AutoTune_FreqResp.cpp b/libraries/AC_AutoTune/AC_AutoTune_FreqResp.cpp
index feea5fa04f..c85aa33f65 100644
--- a/libraries/AC_AutoTune/AC_AutoTune_FreqResp.cpp
+++ b/libraries/AC_AutoTune/AC_AutoTune_FreqResp.cpp
@@ -26,12 +26,8 @@ void AC_AutoTune_FreqResp::init(InputType input_type, ResponseType response_type
     max_meas_rate = 0.0f;
     max_command = 0.0f;
     dwell_cycles = cycles;
-    if (meas_peak_info_buffer != nullptr) {
-        meas_peak_info_buffer->clear();
-    }
-    if (tgt_peak_info_buffer != nullptr) {
-        tgt_peak_info_buffer->clear();
-    }
+    meas_peak_info_buffer.clear();
+    tgt_peak_info_buffer.clear();
     cycle_complete = false;
 }
 
@@ -263,16 +259,14 @@ void AC_AutoTune_FreqResp::push_to_meas_buffer(uint16_t count, float amplitude,
     sample.curr_count = count;
     sample.amplitude = amplitude;
     sample.time_ms = time_ms;
-    if (meas_peak_info_buffer != nullptr) {
-        meas_peak_info_buffer->push(sample);
-    }
+    meas_peak_info_buffer.push(sample);
 }
 
 // pull measured peak info from buffer
 void AC_AutoTune_FreqResp::pull_from_meas_buffer(uint16_t &count, float &amplitude, uint32_t &time_ms)
 {
     peak_info sample;
-    if ((meas_peak_info_buffer == nullptr) || !meas_peak_info_buffer->pop(sample)) {
+    if (!meas_peak_info_buffer.pop(sample)) {
         // no sample
         return;
     }
@@ -288,16 +282,14 @@ void AC_AutoTune_FreqResp::push_to_tgt_buffer(uint16_t count, float amplitude, u
     sample.curr_count = count;
     sample.amplitude = amplitude;
     sample.time_ms = time_ms;
-    if (tgt_peak_info_buffer != nullptr) {
-        tgt_peak_info_buffer->push(sample);
-    }
+    tgt_peak_info_buffer.push(sample);
 }
 
 // pull target peak info from buffer
 void AC_AutoTune_FreqResp::pull_from_tgt_buffer(uint16_t &count, float &amplitude, uint32_t &time_ms)
 {
     peak_info sample;
-    if ((tgt_peak_info_buffer == nullptr) || !tgt_peak_info_buffer->pop(sample)) {
+    if (!tgt_peak_info_buffer.pop(sample)) {
         // no sample
         return;
     }
diff --git a/libraries/AC_AutoTune/AC_AutoTune_FreqResp.h b/libraries/AC_AutoTune/AC_AutoTune_FreqResp.h
index e36121643b..ada80e103a 100644
--- a/libraries/AC_AutoTune/AC_AutoTune_FreqResp.h
+++ b/libraries/AC_AutoTune/AC_AutoTune_FreqResp.h
@@ -11,9 +11,6 @@ public:
     // Constructor
     AC_AutoTune_FreqResp()
 {
-    // ring buffers sized to for more cycles than are needed.  Most cycles needed are 6.
-    meas_peak_info_buffer = NEW_NOTHROW ObjectBuffer<peak_info>(12);
-    tgt_peak_info_buffer = NEW_NOTHROW ObjectBuffer<peak_info>(12);
 }
 
     // Enumeration of input type
@@ -183,10 +180,10 @@ private:
     };
 
     // Buffer object for measured peak data
-    ObjectBuffer<peak_info> *meas_peak_info_buffer;
+    ObjectBuffer<peak_info> meas_peak_info_buffer{12};
 
     // Buffer object for target peak data
-    ObjectBuffer<peak_info> *tgt_peak_info_buffer;
+    ObjectBuffer<peak_info> tgt_peak_info_buffer{12};
 
     // Push data into measured peak data buffer object
     void push_to_meas_buffer(uint16_t count, float amplitude, uint32_t time_ms);