From 94cbd7cbfb64b1f7fc07cff353fda89e998801b8 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Mon, 27 May 2024 11:24:13 +1000
Subject: [PATCH] AP_NavEKF3: use NEW_NOTHROW for new(std::nothrow)

---
 libraries/AP_NavEKF3/AP_NavEKF3_RngBcnFusion.cpp | 2 +-
 libraries/AP_NavEKF3/AP_NavEKF3_core.cpp         | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_RngBcnFusion.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_RngBcnFusion.cpp
index 6fc98f0814..92a2ba4eec 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_RngBcnFusion.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_RngBcnFusion.cpp
@@ -43,7 +43,7 @@ void NavEKF3_core::BeaconFusion::InitialiseVariables()
     auto *beacon = AP::dal().beacon();
     if (beacon != nullptr) {
         const uint8_t count = beacon->count();
-        fusionReport = new BeaconFusion::FusionReport[count];
+        fusionReport = NEW_NOTHROW BeaconFusion::FusionReport[count];
         if (fusionReport != nullptr) {
             numFusionReports = count;
         }
diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp
index af10084e6c..6c750ff63a 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp
@@ -172,7 +172,7 @@ bool NavEKF3_core::setup_core(uint8_t _imu_index, uint8_t _core_index)
         }
 
         // try to instantiate
-        yawEstimator = new EKFGSF_yaw();
+        yawEstimator = NEW_NOTHROW EKFGSF_yaw();
         if (yawEstimator == nullptr) {
             GCS_SEND_TEXT(MAV_SEVERITY_CRITICAL, "EKF3 IMU%uGSF: allocation failed",(unsigned)imu_index);
             return false;