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AP_NavEKF2: use enum class for DAL MemoryType

This commit is contained in:
Peter Barker 2024-08-31 08:05:41 +10:00 committed by Peter Barker
parent e3e350427e
commit 7d1e1ef924
1 changed files with 2 additions and 2 deletions
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4
libraries/AP_NavEKF2/AP_NavEKF2.cpp
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@ -675,7 +675,7 @@ bool NavEKF2::InitialiseFilter(void)
} }
// try to allocate from CCM RAM, fallback to Normal RAM if not available or full // try to allocate from CCM RAM, fallback to Normal RAM if not available or full
core = (NavEKF2_core*)AP::dal().malloc_type(sizeof(NavEKF2_core)*num_cores, AP_DAL::MEM_FAST); core = (NavEKF2_core*)AP::dal().malloc_type(sizeof(NavEKF2_core)*num_cores, AP_DAL::MemoryType::FAST);
if (core == nullptr) { if (core == nullptr) {
initFailure = InitFailures::NO_MEM; initFailure = InitFailures::NO_MEM;
core_malloc_failed = true; core_malloc_failed = true;
@ -695,7 +695,7 @@ bool NavEKF2::InitialiseFilter(void)
if (_imuMask & (1U<<i)) { if (_imuMask & (1U<<i)) {
if(!core[num_cores].setup_core(i, num_cores)) { if(!core[num_cores].setup_core(i, num_cores)) {
// if any core setup fails, free memory, zero the core pointer and abort // if any core setup fails, free memory, zero the core pointer and abort
hal.util->free_type(core, sizeof(NavEKF2_core)*num_cores, AP_HAL::Util::MEM_FAST); AP::dal().free_type(core, sizeof(NavEKF2_core)*num_cores, AP_DAL::MemoryType::FAST);
core = nullptr; core = nullptr;
initFailure = InitFailures::NO_SETUP; initFailure = InitFailures::NO_SETUP;
GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "NavEKF2: core %d setup failed", num_cores); GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "NavEKF2: core %d setup failed", num_cores);