aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

AP_InertialSensor: ensure that accel calibration object isn't allocated more than once

Browse Source
This commit is contained in:
Jonathan Challinger 2015-12-28 20:16:16 -08:00
parent 57d2594bd7
commit f6a41a8936
1 changed files with 7 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

9
libraries/AP_InertialSensor/AP_InertialSensor.cpp
View File

@ -1241,9 +1241,14 @@ bool AP_InertialSensor::is_still()
// called during the startup of accel cal // called during the startup of accel cal
void AP_InertialSensor::acal_init() 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); _acal->register_client(this);
_accel_calibrator = new AccelCalibrator[INS_MAX_INSTANCES];
} }
// update accel calibrator // update accel calibrator