From f3a778f98044e00a9b26126850ead9d2e7625041 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Thu, 24 Nov 2016 10:03:44 +1100
Subject: [PATCH] AP_InertialSensor: fixed freeing of fifo buffer

---
 libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp | 2 +-
 libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.cpp | 3 +++
 2 files changed, 4 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp
index 126c036fc7..2827134cbc 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp
@@ -262,7 +262,7 @@ AP_InertialSensor_MPU6000::AP_InertialSensor_MPU6000(AP_InertialSensor &imu,
 AP_InertialSensor_MPU6000::~AP_InertialSensor_MPU6000()
 {
     if (_fifo_buffer != nullptr) {
-        delete[] _fifo_buffer;
+        hal.util->dma_free(_fifo_buffer, MPU_FIFO_BUFFER_LEN * MPU_SAMPLE_SIZE);
     }
     delete _auxiliary_bus;
 }
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.cpp
index e5065eed48..b02c2d39f9 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.cpp
@@ -220,6 +220,9 @@ AP_InertialSensor_MPU9250::AP_InertialSensor_MPU9250(AP_InertialSensor &imu,
 
 AP_InertialSensor_MPU9250::~AP_InertialSensor_MPU9250()
 {
+    if (_fifo_buffer != nullptr) {
+        hal.util->dma_free(_fifo_buffer, MPU_FIFO_BUFFER_LEN * MPU_SAMPLE_SIZE);
+    }
     delete _auxiliary_bus;
 }