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fix control_allocator: use 'delete' instead of 'free', guard against out-of-memory

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This commit is contained in:
Beat Küng
2020-08-13 08:20:33 +02:00
committed by Daniel Agar
parent 066464c4e8
commit 0e86ab47f6
1 changed files with 15 additions and 50 deletions
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src/modules/control_allocator/ControlAllocator.cpp
+15 -50
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@@ -59,13 +59,8 @@ ControlAllocator::ControlAllocator() :
ControlAllocator::~ControlAllocator()
{
if (_control_allocation != nullptr) {
free(_control_allocation);
}
if (_actuator_effectiveness != nullptr) {
free(_actuator_effectiveness);
}
delete _control_allocation;
delete _actuator_effectiveness;
perf_free(_loop_perf);
}
@@ -94,6 +89,10 @@ ControlAllocator::parameters_updated()
update_effectiveness_source();
update_allocation_method();
if (_control_allocation == nullptr) {
return;
}
// Minimum actuator values
matrix::Vector<float, NUM_ACTUATORS> actuator_min;
actuator_min(0) = _param_ca_act0_min.get();
@@ -170,7 +169,6 @@ ControlAllocator::update_allocation_method()
default:
PX4_ERR("Unknown allocation method");
tmp = nullptr;
break;
}
@@ -180,20 +178,9 @@ ControlAllocator::update_allocation_method()
PX4_ERR("Control allocation init failed");
_param_ca_method.set((int)_allocation_method_id);
} else if (_control_allocation == tmp) {
// Nothing has changed, this should not happen
PX4_ERR("Control allocation init error");
_allocation_method_id = method;
} else {
// Successful update
PX4_INFO("Control allocation init success");
// Swap allocation methods
if (_control_allocation != nullptr) {
free(_control_allocation);
}
delete _control_allocation;
_control_allocation = tmp;
// Save method id
@@ -203,13 +190,6 @@ ControlAllocator::update_allocation_method()
_control_allocation->setActuatorSetpoint(actuator_sp);
}
}
// Guard against bad initialization
if (_control_allocation == nullptr) {
PX4_ERR("Falling back to ControlAllocationPseudoInverse");
_control_allocation = new ControlAllocationPseudoInverse();
_allocation_method_id = AllocationMethod::PSEUDO_INVERSE;
}
}
void
@@ -238,7 +218,6 @@ ControlAllocator::update_effectiveness_source()
default:
PX4_ERR("Unknown airframe");
tmp = nullptr;
break;
}
@@ -248,33 +227,15 @@ ControlAllocator::update_effectiveness_source()
PX4_ERR("Actuator effectiveness init failed");
_param_ca_airframe.set((int)_effectiveness_source_id);
} else if (_actuator_effectiveness == tmp) {
// Nothing has changed, this should not happen
PX4_ERR("Actuator effectiveness init error");
_effectiveness_source_id = source;
} else {
// Successful update
PX4_INFO("Actuator effectiveness init success");
// Swap effectiveness sources
if (_actuator_effectiveness != nullptr) {
free(_actuator_effectiveness);
}
delete _actuator_effectiveness;
_actuator_effectiveness = tmp;
// Save source id
_effectiveness_source_id = source;
}
}
// Guard against bad initialization
if (_actuator_effectiveness == nullptr) {
PX4_ERR("Falling back to ActuatorEffectivenessMultirotor");
_actuator_effectiveness = new ActuatorEffectivenessMultirotor();
_effectiveness_source_id = EffectivenessSource::MULTIROTOR;
}
}
void
@@ -299,9 +260,13 @@ ControlAllocator::Run()
parameters_updated();
}
if (_vehicle_status_sub.updated()) {
vehicle_status_s vehicle_status = {};
_vehicle_status_sub.update(&vehicle_status);
if (_control_allocation == nullptr || _actuator_effectiveness == nullptr) {
return;
}
vehicle_status_s vehicle_status;
if (_vehicle_status_sub.update(&vehicle_status)) {
ActuatorEffectiveness::FlightPhase flight_phase{ActuatorEffectiveness::FlightPhase::HOVER_FLIGHT};