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EKF: allocate and unallocate buffer more robustly

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This commit is contained in:
bugobliterator 2016-01-30 23:48:41 -08:00
parent c6249a2825
commit 8200ef4d17
3 changed files with 36 additions and 10 deletions
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11
EKF/RingBuffer.h
View File

@ -52,7 +52,7 @@ public:
_head = _tail = _size = 0;
_first_write = true;
}
~RingBuffer() {delete _buffer;}
~RingBuffer() { delete[] _buffer; }
bool allocate(int size)
{
@ -61,7 +61,7 @@ public:
}
if (_buffer != NULL) {
delete _buffer;
delete[] _buffer;
}
_buffer = new data_type[size];
@ -75,6 +75,13 @@ public:
return true;
}
void unallocate()
{
if (_buffer != NULL) {
delete[] _buffer;
}
}
inline void push(data_type sample, bool debug = false)
{
if (debug) {

34
EKF/estimator_interface.cpp
View File

@ -203,14 +203,19 @@ void EstimatorInterface::setOpticalFlowData(uint64_t time_usec, float *data)
bool EstimatorInterface::initialise_interface(uint64_t timestamp)
{
_imu_buffer.allocate(IMU_BUFFER_LENGTH);
_gps_buffer.allocate(OBS_BUFFER_LENGTH);
_mag_buffer.allocate(OBS_BUFFER_LENGTH);
_baro_buffer.allocate(OBS_BUFFER_LENGTH);
_range_buffer.allocate(OBS_BUFFER_LENGTH);
_airspeed_buffer.allocate(OBS_BUFFER_LENGTH);
_flow_buffer.allocate(OBS_BUFFER_LENGTH);
_output_buffer.allocate(IMU_BUFFER_LENGTH);
if(!(_imu_buffer.allocate(IMU_BUFFER_LENGTH) &&
_gps_buffer.allocate(OBS_BUFFER_LENGTH) &&
_mag_buffer.allocate(OBS_BUFFER_LENGTH) &&
_baro_buffer.allocate(OBS_BUFFER_LENGTH) &&
_range_buffer.allocate(OBS_BUFFER_LENGTH) &&
_airspeed_buffer.allocate(OBS_BUFFER_LENGTH) &&
_flow_buffer.allocate(OBS_BUFFER_LENGTH) &&
_output_buffer.allocate(IMU_BUFFER_LENGTH))) {
PX4_WARN("Estimator Buffer Allocation failed!");
unallocate_buffers();
return false;
}
_dt_imu_avg = 0.0f;
@ -237,6 +242,19 @@ bool EstimatorInterface::initialise_interface(uint64_t timestamp)
return true;
}
void EstimatorInterface::unallocate_buffers()
{
_imu_buffer.unallocate();
_gps_buffer.unallocate();
_mag_buffer.unallocate();
_baro_buffer.unallocate();
_range_buffer.unallocate();
_airspeed_buffer.unallocate();
_flow_buffer.unallocate();
_output_buffer.unallocate();
}
bool EstimatorInterface::position_is_valid()
{
// return true if the position estimate is valid

1
EKF/estimator_interface.h
View File

@ -224,4 +224,5 @@ protected:
fault_status_t _fault_status;
bool initialise_interface(uint64_t timestamp);
void unallocate_buffers();
};