From f6a41a89366daadd88a118b7c00c788cbf30d84f Mon Sep 17 00:00:00 2001
From: Jonathan Challinger <mr.challinger@gmail.com>
Date: Mon, 28 Dec 2015 20:16:16 -0800
Subject: [PATCH] AP_InertialSensor: ensure that accel calibration object isn't
 allocated more than once

---
 libraries/AP_InertialSensor/AP_InertialSensor.cpp | 9 +++++++--
 1 file changed, 7 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_InertialSensor/AP_InertialSensor.cpp b/libraries/AP_InertialSensor/AP_InertialSensor.cpp
index dc89b7bea5..29fd0f288b 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor.cpp
@@ -1241,9 +1241,14 @@ bool AP_InertialSensor::is_still()
 // called during the startup of accel cal
 void AP_InertialSensor::acal_init()
 {
-    _acal = new AP_AccelCal;
+    if (_acal == NULL) {
+        _acal = new AP_AccelCal;
+    }
+    if (_accel_calibrator == NULL) {
+        _accel_calibrator = new AccelCalibrator[INS_MAX_INSTANCES];
+    }
+
     _acal->register_client(this);
-    _accel_calibrator = new AccelCalibrator[INS_MAX_INSTANCES];
 }
 
 // update accel calibrator