From b897f984a7d399132e8c9b77f8f1050e87ba594b Mon Sep 17 00:00:00 2001
From: bugobliterator <siddharthbharatpurohit@gmail.com>
Date: Wed, 29 Sep 2021 13:06:41 +0530
Subject: [PATCH] AP_UAVCAN: use config error instead of panic on allocation
 failure

---
 libraries/AP_UAVCAN/AP_UAVCAN_DNA_Server.cpp | 7 +++----
 1 file changed, 3 insertions(+), 4 deletions(-)

diff --git a/libraries/AP_UAVCAN/AP_UAVCAN_DNA_Server.cpp b/libraries/AP_UAVCAN/AP_UAVCAN_DNA_Server.cpp
index 254c136871..7594ab08a5 100644
--- a/libraries/AP_UAVCAN/AP_UAVCAN_DNA_Server.cpp
+++ b/libraries/AP_UAVCAN/AP_UAVCAN_DNA_Server.cpp
@@ -29,6 +29,7 @@
 #include <GCS_MAVLink/GCS.h>
 #include <AP_Logger/AP_Logger.h>
 #include "AP_UAVCAN_Clock.h"
+#include <AP_BoardConfig/AP_BoardConfig.h>
 extern const AP_HAL::HAL& hal;
 
 #define NODEDATA_MAGIC 0xAC01
@@ -62,8 +63,7 @@ void AP_UAVCAN_DNA_Server::subscribe_msgs(AP_UAVCAN* ap_uavcan)
     uavcan::Subscriber<uavcan::protocol::dynamic_node_id::Allocation, AllocationCb> *AllocationListener;
     AllocationListener = new uavcan::Subscriber<uavcan::protocol::dynamic_node_id::Allocation, AllocationCb>(*node);
     if (AllocationListener == nullptr) {
-        AP_HAL::panic("Allocation Subscriber allocation failed\n\r");
-        return;
+        AP_BoardConfig::allocation_error("AP_UAVCAN_DNA: AllocationListener");
     }
     const int alloc_listener_res = AllocationListener->start(AllocationCb(ap_uavcan, &trampoline_handleAllocation));
     if (alloc_listener_res < 0) {
@@ -77,8 +77,7 @@ void AP_UAVCAN_DNA_Server::subscribe_msgs(AP_UAVCAN* ap_uavcan)
     uavcan::Subscriber<uavcan::protocol::NodeStatus, NodeStatusCb> *NodeStatusListener;
     NodeStatusListener = new uavcan::Subscriber<uavcan::protocol::NodeStatus, NodeStatusCb>(*node);
     if (NodeStatusListener == nullptr) {
-        AP_HAL::panic("NodeStatus Subscriber allocation failed\n\r");
-        return;
+        AP_BoardConfig::allocation_error("AP_UAVCAN_DNA: NodeStatusListener");
     }
     const int nodestatus_listener_res = NodeStatusListener->start(NodeStatusCb(ap_uavcan, &trampoline_handleNodeStatus));
     if (nodestatus_listener_res < 0) {