diff options
Diffstat (limited to 'src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp')
| -rw-r--r-- | src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp | 4 |
1 files changed, 3 insertions, 1 deletions
diff --git a/src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp b/src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp index 20c5d3719..840cd585e 100644 --- a/src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp +++ b/src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp @@ -292,7 +292,7 @@ FixedwingEstimator::FixedwingEstimator() : _initialized(false), _gps_initialized(false), _mavlink_fd(-1), - _ekf(new AttPosEKF()) + _ekf(nullptr) { _mavlink_fd = open(MAVLINK_LOG_DEVICE, 0); @@ -396,6 +396,8 @@ void FixedwingEstimator::task_main() { + _ekf = new AttPosEKF(); + if (!_ekf) { errx(1, "failed allocating EKF filter - out of RAM!"); } |