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Filter: comment on reserved config. cope with notch allocation failure.

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Andy Piper 2019-08-29 08:13:59 +01:00 committed by Andrew Tridgell
parent a9a7fe3ea5
commit bc5916ebc9
2 changed files with 8 additions and 0 deletions
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6
libraries/Filter/HarmonicNotchFilter.cpp
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@ -14,6 +14,7 @@
*/
#include "HarmonicNotchFilter.h"
#include <GCS_MAVLink/GCS.h>
#define HNF_MAX_FILTERS 3
#define HNF_MAX_HARMONICS 8
@ -121,6 +122,11 @@ void HarmonicNotchFilter<T>::allocate_filters(uint8_t harmonics)
}
if (_num_filters > 0) {
_filters = new NotchFilter<T>[_num_filters];
if (_filters == nullptr) {
gcs().send_text(MAV_SEVERITY_WARNING, "Failed to allocate %lu bytes for HarmonicNotchFilter", _num_filters * sizeof(NotchFilter<T>));
_num_filters = 0;
}
}
_harmonics = harmonics;
}

2
libraries/Filter/NotchFilter.cpp
View File

@ -90,6 +90,8 @@ const AP_Param::GroupInfo NotchFilterParams::var_info[] = {
// @User: Advanced
AP_GROUPINFO_FLAGS("ENABLE", 1, NotchFilterParams, _enable, 0, AP_PARAM_FLAG_ENABLE),
// Slots 2 and 3 are reserved - they were integer versions of FREQ and BW which have since been converted to float
// @Param: ATT
// @DisplayName: Attenuation
// @Description: Notch attenuation in dB