Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

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

This commit is contained in:
Andrew Tridgell 2024-05-27 11:24:16 +10:00
parent 32904d2dc0
commit 7551236854
2 changed files with 19 additions and 19 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
ArduCopter/GCS_Copter.h
View File

@ -43,7 +43,7 @@ protected:
GCS_MAVLINK_Copter *new_gcs_mavlink_backend(GCS_MAVLINK_Parameters &params, GCS_MAVLINK_Copter *new_gcs_mavlink_backend(GCS_MAVLINK_Parameters &params,
AP_HAL::UARTDriver &uart) override { AP_HAL::UARTDriver &uart) override {
return new GCS_MAVLINK_Copter(params, uart); return NEW_NOTHROW GCS_MAVLINK_Copter(params, uart);
} }
}; };

36
ArduCopter/system.cpp
View File

@ -361,54 +361,54 @@ void Copter::allocate_motors(void)
case AP_Motors::MOTOR_FRAME_DECA: case AP_Motors::MOTOR_FRAME_DECA:
case AP_Motors::MOTOR_FRAME_SCRIPTING_MATRIX: case AP_Motors::MOTOR_FRAME_SCRIPTING_MATRIX:
default: default:
motors = new AP_MotorsMatrix(copter.scheduler.get_loop_rate_hz()); motors = NEW_NOTHROW AP_MotorsMatrix(copter.scheduler.get_loop_rate_hz());
motors_var_info = AP_MotorsMatrix::var_info; motors_var_info = AP_MotorsMatrix::var_info;
break; break;
case AP_Motors::MOTOR_FRAME_TRI: case AP_Motors::MOTOR_FRAME_TRI:
motors = new AP_MotorsTri(copter.scheduler.get_loop_rate_hz()); motors = NEW_NOTHROW AP_MotorsTri(copter.scheduler.get_loop_rate_hz());
motors_var_info = AP_MotorsTri::var_info; motors_var_info = AP_MotorsTri::var_info;
AP_Param::set_frame_type_flags(AP_PARAM_FRAME_TRICOPTER); AP_Param::set_frame_type_flags(AP_PARAM_FRAME_TRICOPTER);
break; break;
case AP_Motors::MOTOR_FRAME_SINGLE: case AP_Motors::MOTOR_FRAME_SINGLE:
motors = new AP_MotorsSingle(copter.scheduler.get_loop_rate_hz()); motors = NEW_NOTHROW AP_MotorsSingle(copter.scheduler.get_loop_rate_hz());
motors_var_info = AP_MotorsSingle::var_info; motors_var_info = AP_MotorsSingle::var_info;
break; break;
case AP_Motors::MOTOR_FRAME_COAX: case AP_Motors::MOTOR_FRAME_COAX:
motors = new AP_MotorsCoax(copter.scheduler.get_loop_rate_hz()); motors = NEW_NOTHROW AP_MotorsCoax(copter.scheduler.get_loop_rate_hz());
motors_var_info = AP_MotorsCoax::var_info; motors_var_info = AP_MotorsCoax::var_info;
break; break;
case AP_Motors::MOTOR_FRAME_TAILSITTER: case AP_Motors::MOTOR_FRAME_TAILSITTER:
motors = new AP_MotorsTailsitter(copter.scheduler.get_loop_rate_hz()); motors = NEW_NOTHROW AP_MotorsTailsitter(copter.scheduler.get_loop_rate_hz());
motors_var_info = AP_MotorsTailsitter::var_info; motors_var_info = AP_MotorsTailsitter::var_info;
break; break;
case AP_Motors::MOTOR_FRAME_6DOF_SCRIPTING: case AP_Motors::MOTOR_FRAME_6DOF_SCRIPTING:
#if AP_SCRIPTING_ENABLED #if AP_SCRIPTING_ENABLED
motors = new AP_MotorsMatrix_6DoF_Scripting(copter.scheduler.get_loop_rate_hz()); motors = NEW_NOTHROW AP_MotorsMatrix_6DoF_Scripting(copter.scheduler.get_loop_rate_hz());
motors_var_info = AP_MotorsMatrix_6DoF_Scripting::var_info; motors_var_info = AP_MotorsMatrix_6DoF_Scripting::var_info;
#endif // AP_SCRIPTING_ENABLED #endif // AP_SCRIPTING_ENABLED
break; break;
case AP_Motors::MOTOR_FRAME_DYNAMIC_SCRIPTING_MATRIX: case AP_Motors::MOTOR_FRAME_DYNAMIC_SCRIPTING_MATRIX:
#if AP_SCRIPTING_ENABLED #if AP_SCRIPTING_ENABLED
motors = new AP_MotorsMatrix_Scripting_Dynamic(copter.scheduler.get_loop_rate_hz()); motors = NEW_NOTHROW AP_MotorsMatrix_Scripting_Dynamic(copter.scheduler.get_loop_rate_hz());
motors_var_info = AP_MotorsMatrix_Scripting_Dynamic::var_info; motors_var_info = AP_MotorsMatrix_Scripting_Dynamic::var_info;
#endif // AP_SCRIPTING_ENABLED #endif // AP_SCRIPTING_ENABLED
break; break;
#else // FRAME_CONFIG == HELI_FRAME #else // FRAME_CONFIG == HELI_FRAME
case AP_Motors::MOTOR_FRAME_HELI_DUAL: case AP_Motors::MOTOR_FRAME_HELI_DUAL:
motors = new AP_MotorsHeli_Dual(copter.scheduler.get_loop_rate_hz()); motors = NEW_NOTHROW AP_MotorsHeli_Dual(copter.scheduler.get_loop_rate_hz());
motors_var_info = AP_MotorsHeli_Dual::var_info; motors_var_info = AP_MotorsHeli_Dual::var_info;
AP_Param::set_frame_type_flags(AP_PARAM_FRAME_HELI); AP_Param::set_frame_type_flags(AP_PARAM_FRAME_HELI);
break; break;
case AP_Motors::MOTOR_FRAME_HELI_QUAD: case AP_Motors::MOTOR_FRAME_HELI_QUAD:
motors = new AP_MotorsHeli_Quad(copter.scheduler.get_loop_rate_hz()); motors = NEW_NOTHROW AP_MotorsHeli_Quad(copter.scheduler.get_loop_rate_hz());
motors_var_info = AP_MotorsHeli_Quad::var_info; motors_var_info = AP_MotorsHeli_Quad::var_info;
AP_Param::set_frame_type_flags(AP_PARAM_FRAME_HELI); AP_Param::set_frame_type_flags(AP_PARAM_FRAME_HELI);
break; break;
case AP_Motors::MOTOR_FRAME_HELI: case AP_Motors::MOTOR_FRAME_HELI:
default: default:
motors = new AP_MotorsHeli_Single(copter.scheduler.get_loop_rate_hz()); motors = NEW_NOTHROW AP_MotorsHeli_Single(copter.scheduler.get_loop_rate_hz());
motors_var_info = AP_MotorsHeli_Single::var_info; motors_var_info = AP_MotorsHeli_Single::var_info;
AP_Param::set_frame_type_flags(AP_PARAM_FRAME_HELI); AP_Param::set_frame_type_flags(AP_PARAM_FRAME_HELI);
break; break;
@ -427,15 +427,15 @@ void Copter::allocate_motors(void)
#if FRAME_CONFIG != HELI_FRAME #if FRAME_CONFIG != HELI_FRAME
if ((AP_Motors::motor_frame_class)g2.frame_class.get() == AP_Motors::MOTOR_FRAME_6DOF_SCRIPTING) { if ((AP_Motors::motor_frame_class)g2.frame_class.get() == AP_Motors::MOTOR_FRAME_6DOF_SCRIPTING) {
#if AP_SCRIPTING_ENABLED #if AP_SCRIPTING_ENABLED
attitude_control = new AC_AttitudeControl_Multi_6DoF(*ahrs_view, aparm, *motors); attitude_control = NEW_NOTHROW AC_AttitudeControl_Multi_6DoF(*ahrs_view, aparm, *motors);
attitude_control_var_info = AC_AttitudeControl_Multi_6DoF::var_info; attitude_control_var_info = AC_AttitudeControl_Multi_6DoF::var_info;
#endif // AP_SCRIPTING_ENABLED #endif // AP_SCRIPTING_ENABLED
} else { } else {
attitude_control = new AC_AttitudeControl_Multi(*ahrs_view, aparm, *motors); attitude_control = NEW_NOTHROW AC_AttitudeControl_Multi(*ahrs_view, aparm, *motors);
attitude_control_var_info = AC_AttitudeControl_Multi::var_info; attitude_control_var_info = AC_AttitudeControl_Multi::var_info;
} }
#else #else
attitude_control = new AC_AttitudeControl_Heli(*ahrs_view, aparm, *motors); attitude_control = NEW_NOTHROW AC_AttitudeControl_Heli(*ahrs_view, aparm, *motors);
attitude_control_var_info = AC_AttitudeControl_Heli::var_info; attitude_control_var_info = AC_AttitudeControl_Heli::var_info;
#endif #endif
if (attitude_control == nullptr) { if (attitude_control == nullptr) {
@ -443,30 +443,30 @@ void Copter::allocate_motors(void)
} }
AP_Param::load_object_from_eeprom(attitude_control, attitude_control_var_info); AP_Param::load_object_from_eeprom(attitude_control, attitude_control_var_info);
pos_control = new AC_PosControl(*ahrs_view, inertial_nav, *motors, *attitude_control); pos_control = NEW_NOTHROW AC_PosControl(*ahrs_view, inertial_nav, *motors, *attitude_control);
if (pos_control == nullptr) { if (pos_control == nullptr) {
AP_BoardConfig::allocation_error("PosControl"); AP_BoardConfig::allocation_error("PosControl");
} }
AP_Param::load_object_from_eeprom(pos_control, pos_control->var_info); AP_Param::load_object_from_eeprom(pos_control, pos_control->var_info);
#if AP_OAPATHPLANNER_ENABLED #if AP_OAPATHPLANNER_ENABLED
wp_nav = new AC_WPNav_OA(inertial_nav, *ahrs_view, *pos_control, *attitude_control); wp_nav = NEW_NOTHROW AC_WPNav_OA(inertial_nav, *ahrs_view, *pos_control, *attitude_control);
#else #else
wp_nav = new AC_WPNav(inertial_nav, *ahrs_view, *pos_control, *attitude_control); wp_nav = NEW_NOTHROW AC_WPNav(inertial_nav, *ahrs_view, *pos_control, *attitude_control);
#endif #endif
if (wp_nav == nullptr) { if (wp_nav == nullptr) {
AP_BoardConfig::allocation_error("WPNav"); AP_BoardConfig::allocation_error("WPNav");
} }
AP_Param::load_object_from_eeprom(wp_nav, wp_nav->var_info); AP_Param::load_object_from_eeprom(wp_nav, wp_nav->var_info);
loiter_nav = new AC_Loiter(inertial_nav, *ahrs_view, *pos_control, *attitude_control); loiter_nav = NEW_NOTHROW AC_Loiter(inertial_nav, *ahrs_view, *pos_control, *attitude_control);
if (loiter_nav == nullptr) { if (loiter_nav == nullptr) {
AP_BoardConfig::allocation_error("LoiterNav"); AP_BoardConfig::allocation_error("LoiterNav");
} }
AP_Param::load_object_from_eeprom(loiter_nav, loiter_nav->var_info); AP_Param::load_object_from_eeprom(loiter_nav, loiter_nav->var_info);
#if MODE_CIRCLE_ENABLED == ENABLED #if MODE_CIRCLE_ENABLED == ENABLED
circle_nav = new AC_Circle(inertial_nav, *ahrs_view, *pos_control); circle_nav = NEW_NOTHROW AC_Circle(inertial_nav, *ahrs_view, *pos_control);
if (circle_nav == nullptr) { if (circle_nav == nullptr) {
AP_BoardConfig::allocation_error("CircleNav"); AP_BoardConfig::allocation_error("CircleNav");
} }