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

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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
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5
libraries/AP_NavEKF/AP_NavEKF.cpp
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@ -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);