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AP_NavEKF2: don't try to allocate last bytes of memory to EKF2

This commit is contained in:
Andrew Tridgell 2015-11-05 12:22:49 +11:00
parent ee78e2d618
commit d52279af27
1 changed files with 8 additions and 0 deletions
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8
libraries/AP_NavEKF2/AP_NavEKF2.cpp
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@ -106,6 +106,8 @@
#endif // APM_BUILD_DIRECTORY #endif // APM_BUILD_DIRECTORY
extern const AP_HAL::HAL& hal;
// Define tuning parameters // Define tuning parameters
const AP_Param::GroupInfo NavEKF2::var_info[] = { const AP_Param::GroupInfo NavEKF2::var_info[] = {
@ -453,6 +455,12 @@ bool NavEKF2::InitialiseFilter(void)
} }
} }
if (hal.util->available_memory() < sizeof(NavEKF2_core)*num_cores + 4096) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "NavEKF2: not enough memory");
_enable.set(0);
return false;
}
core = new NavEKF2_core[num_cores]; core = new NavEKF2_core[num_cores];
if (core == nullptr) { if (core == nullptr) {
_enable.set(0); _enable.set(0);