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AP_NavEKF3: handle core setup failure

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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 d9c9875768
commit bbe79b3c18
1 changed files with 2 additions and 0 deletions
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2
libraries/AP_NavEKF3/AP_NavEKF3.cpp
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@ -803,6 +803,7 @@ bool NavEKF3::InitialiseFilter(void)
if (AP::dal().available_memory() < sizeof(NavEKF3_core)*num_cores + 4096) { if (AP::dal().available_memory() < sizeof(NavEKF3_core)*num_cores + 4096) {
GCS_SEND_TEXT(MAV_SEVERITY_CRITICAL, "EKF3 not enough memory"); GCS_SEND_TEXT(MAV_SEVERITY_CRITICAL, "EKF3 not enough memory");
_enable.set(0); _enable.set(0);
num_cores = 0;
return false; return false;
} }
@ -810,6 +811,7 @@ bool NavEKF3::InitialiseFilter(void)
core = (NavEKF3_core*)AP::dal().malloc_type(sizeof(NavEKF3_core)*num_cores, AP::dal().MEM_FAST); core = (NavEKF3_core*)AP::dal().malloc_type(sizeof(NavEKF3_core)*num_cores, AP::dal().MEM_FAST);
if (core == nullptr) { if (core == nullptr) {
_enable.set(0); _enable.set(0);
num_cores = 0;
GCS_SEND_TEXT(MAV_SEVERITY_CRITICAL, "EKF3 allocation failed"); GCS_SEND_TEXT(MAV_SEVERITY_CRITICAL, "EKF3 allocation failed");
return false; return false;
} }