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AP_NavEKF2: allocate NavEKF core from MEM_FAST region

This commit is contained in:
bugobliterator 2018-01-08 15:12:55 +05:30 committed by Andrew Tridgell
parent 1c6beaa7c4
commit b1213a522d
1 changed files with 9 additions and 2 deletions
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9
libraries/AP_NavEKF2/AP_NavEKF2.cpp
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@ -5,6 +5,7 @@
#include <AP_Vehicle/AP_Vehicle.h>
#include <GCS_MAVLink/GCS.h>
#include <DataFlash/DataFlash.h>
#include <new>
/*
parameter defaults for different types of vehicle. The
@ -657,18 +658,24 @@ bool NavEKF2::InitialiseFilter(void)
}
}
// check if there is enough memory to create the EKF cores
if (hal.util->available_memory() < sizeof(NavEKF2_core)*num_cores + 4096) {
gcs().send_text(MAV_SEVERITY_CRITICAL, "NavEKF2: not enough memory");
_enable.set(0);
return false;
}
core = new NavEKF2_core[num_cores];
// try to allocate from CCM RAM, fallback to Normal RAM if not available or full
core = (NavEKF2_core*)hal.util->malloc_type(sizeof(NavEKF2_core)*num_cores, AP_HAL::Util::MEM_FAST);
if (core == nullptr) {
_enable.set(0);
gcs().send_text(MAV_SEVERITY_CRITICAL, "NavEKF2: allocation failed");
return false;
}
for (uint8_t i = 0; i < num_cores; i++) {
//Call Constructors
new (&core[i]) NavEKF2_core();
}
// set the IMU index for the cores
num_cores = 0;