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Copter: system: use config_error loop don't panic

This commit is contained in:
Iampete1 2021-02-05 12:23:20 +00:00 committed by Randy Mackay
parent cc26a520bc
commit a572820dbc
1 changed files with 7 additions and 7 deletions
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14
ArduCopter/system.cpp
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@ -512,13 +512,13 @@ void Copter::allocate_motors(void)
#endif
}
if (motors == nullptr) {
AP_HAL::panic("Unable to allocate FRAME_CLASS=%u", (unsigned)g2.frame_class.get());
AP_BoardConfig::config_error("Unable to allocate FRAME_CLASS=%u", (unsigned)g2.frame_class.get());
}
AP_Param::load_object_from_eeprom(motors, motors_var_info);
ahrs_view = ahrs.create_view(ROTATION_NONE);
if (ahrs_view == nullptr) {
AP_HAL::panic("Unable to allocate AP_AHRS_View");
AP_BoardConfig::config_error("Unable to allocate AP_AHRS_View");
}
const struct AP_Param::GroupInfo *ac_var_info;
@ -538,13 +538,13 @@ void Copter::allocate_motors(void)
ac_var_info = AC_AttitudeControl_Heli::var_info;
#endif
if (attitude_control == nullptr) {
AP_HAL::panic("Unable to allocate AttitudeControl");
AP_BoardConfig::config_error("Unable to allocate AttitudeControl");
}
AP_Param::load_object_from_eeprom(attitude_control, ac_var_info);
pos_control = new AC_PosControl(*ahrs_view, inertial_nav, *motors, *attitude_control);
if (pos_control == nullptr) {
AP_HAL::panic("Unable to allocate PosControl");
AP_BoardConfig::config_error("Unable to allocate PosControl");
}
AP_Param::load_object_from_eeprom(pos_control, pos_control->var_info);
@ -554,20 +554,20 @@ void Copter::allocate_motors(void)
wp_nav = new AC_WPNav(inertial_nav, *ahrs_view, *pos_control, *attitude_control);
#endif
if (wp_nav == nullptr) {
AP_HAL::panic("Unable to allocate WPNav");
AP_BoardConfig::config_error("Unable to allocate WPNav");
}
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);
if (loiter_nav == nullptr) {
AP_HAL::panic("Unable to allocate LoiterNav");
AP_BoardConfig::config_error("Unable to allocate LoiterNav");
}
AP_Param::load_object_from_eeprom(loiter_nav, loiter_nav->var_info);
#if MODE_CIRCLE_ENABLED == ENABLED
circle_nav = new AC_Circle(inertial_nav, *ahrs_view, *pos_control);
if (circle_nav == nullptr) {
AP_HAL::panic("Unable to allocate CircleNav");
AP_BoardConfig::config_error("Unable to allocate CircleNav");
}
AP_Param::load_object_from_eeprom(circle_nav, circle_nav->var_info);
#endif