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AP_NavEKF2: handle core setup failure 

ensure num_cores is left as zero so that calls such as Log_Write don't
de-reference nullptr
This commit is contained in:
Andrew Tridgell 2023-05-02 10:39:16 +10:00
parent 030b1c855f
commit d9c9875768
1 changed files with 2 additions and 0 deletions
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2
libraries/AP_NavEKF2/AP_NavEKF2.cpp
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@ -662,6 +662,7 @@ bool NavEKF2::InitialiseFilter(void)
if (AP::dal().available_memory() < sizeof(NavEKF2_core)*num_cores + 4096) { if (AP::dal().available_memory() < sizeof(NavEKF2_core)*num_cores + 4096) {
initFailure = InitFailures::NO_MEM; initFailure = InitFailures::NO_MEM;
core_malloc_failed = true; core_malloc_failed = true;
num_cores = 0;
GCS_SEND_TEXT(MAV_SEVERITY_CRITICAL, "NavEKF2: not enough memory available"); GCS_SEND_TEXT(MAV_SEVERITY_CRITICAL, "NavEKF2: not enough memory available");
return false; return false;
} }
@ -671,6 +672,7 @@ bool NavEKF2::InitialiseFilter(void)
if (core == nullptr) { if (core == nullptr) {
initFailure = InitFailures::NO_MEM; initFailure = InitFailures::NO_MEM;
core_malloc_failed = true; core_malloc_failed = true;
num_cores = 0;
GCS_SEND_TEXT(MAV_SEVERITY_CRITICAL, "NavEKF2: memory allocation failed"); GCS_SEND_TEXT(MAV_SEVERITY_CRITICAL, "NavEKF2: memory allocation failed");
return false; return false;
} }