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

AP_NavEKF: don't allocate EKF1 unless it will leave 4k free memory

This commit is contained in:
Andrew Tridgell 2016-01-07 08:33:33 +11:00
parent 9188670e03
commit a6c39dee84
1 changed files with 5 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

5
libraries/AP_NavEKF/AP_NavEKF.cpp
View File

@ -421,6 +421,11 @@ bool NavEKF::InitialiseFilterDynamic(void)
return false;
}
if (core == nullptr) {
if (hal.util->available_memory() < 4096 + sizeof(*core)) {
_enable.set(0);
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "NavEKF: not enough memory");
return false;
}
core = new NavEKF_core(*this, _ahrs, _baro, _rng);
if (core == nullptr) {
_enable.set(0);