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mag_calibration: only allocate as much memory as needed

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This commit is contained in:
alessandro
2018-04-16 14:49:45 +02:00
committed by Lorenz Meier
parent 123f11fcdd
commit c16e17f47b
1 changed files with 9 additions and 8 deletions
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src/modules/commander/mag_calibration.cpp
+9 -8
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@@ -569,7 +569,15 @@ calibrate_return mag_calibrate_all(orb_advert_t *mavlink_log_pub)
char str[30];
for (size_t cur_mag = 0; cur_mag < max_mags; cur_mag++) {
// Get actual mag count and alloate only as much memory as needed
const unsigned orb_mag_count = orb_group_count(ORB_ID(sensor_mag));
// Warn that we will not calibrate more than max_mags magnetometers
if (orb_mag_count > max_mags) {
calibration_log_critical(mavlink_log_pub, "Detected %u mags, but will calibrate only %u", orb_mag_count, max_mags);
}
for (size_t cur_mag = 0; cur_mag < orb_mag_count && cur_mag < max_mags; cur_mag++) {
worker_data.x[cur_mag] = reinterpret_cast<float *>(malloc(sizeof(float) * calibration_points_maxcount));
worker_data.y[cur_mag] = reinterpret_cast<float *>(malloc(sizeof(float) * calibration_points_maxcount));
worker_data.z[cur_mag] = reinterpret_cast<float *>(malloc(sizeof(float) * calibration_points_maxcount));
@@ -585,13 +593,6 @@ calibrate_return mag_calibrate_all(orb_advert_t *mavlink_log_pub)
if (result == calibrate_return_ok) {
// We should not try to subscribe if the topic doesn't actually exist and can be counted.
const unsigned orb_mag_count = orb_group_count(ORB_ID(sensor_mag));
// Warn that we will not calibrate more than max_mags magnetometers
if (orb_mag_count > max_mags) {
calibration_log_critical(mavlink_log_pub, "Detected %u mags, but will calibrate only %u", orb_mag_count, max_mags);
}
for (unsigned cur_mag = 0; cur_mag < orb_mag_count && cur_mag < max_mags; cur_mag++) {
// Lock in to correct ORB instance