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AP_ExternalAHRS: use config error instead of panic on allocation failure

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bugobliterator 2021-09-17 23:08:42 +05:30 committed by Peter Barker
parent 8a3e1b96ab
commit 224abe7933
1 changed files with 2 additions and 1 deletions
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3
libraries/AP_ExternalAHRS/AP_ExternalAHRS_VectorNav.cpp
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@ -29,6 +29,7 @@
#include <AP_Logger/AP_Logger.h>
#include <AP_Common/NMEA.h>
#include <stdio.h>
#include <AP_BoardConfig/AP_BoardConfig.h>
#if HAL_EXTERNAL_AHRS_ENABLED
@ -120,7 +121,7 @@ AP_ExternalAHRS_VectorNav::AP_ExternalAHRS_VectorNav(AP_ExternalAHRS *_frontend,
last_pkt2 = new VN_packet2;
if (!pktbuf || !last_pkt1 || !last_pkt2) {
AP_HAL::panic("Failed to allocate ExternalAHRS");
AP_BoardConfig::allocation_error("Failed to allocate ExternalAHRS");
}
if (!hal.scheduler->thread_create(FUNCTOR_BIND_MEMBER(&AP_ExternalAHRS_VectorNav::update_thread, void), "AHRS", 2048, AP_HAL::Scheduler::PRIORITY_SPI, 0)) {