From 3bdc7d41bee2f91ef6c28383ff798f4d61606545 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Sat, 11 Aug 2012 17:12:09 +1000 Subject: [PATCH] INS: disable INS AP_Param table when not on APM1 hardware this could cause overwriting of memory with default values --- ArduCopter/Parameters.pde | 2 ++ ArduPlane/Parameters.pde | 2 +- 2 files changed, 3 insertions(+), 1 deletion(-) diff --git a/ArduCopter/Parameters.pde b/ArduCopter/Parameters.pde index 843d76262b8..31eb78bb91a 100644 --- a/ArduCopter/Parameters.pde +++ b/ArduCopter/Parameters.pde @@ -309,7 +309,9 @@ const AP_Param::Info var_info[] PROGMEM = { // @Group: INS_ // @Path: ../libraries/AP_InertialSensor/AP_InertialSensor_Oilpan.cpp +#if HIL_MODE == HIL_MODE_DISABLED && CONFIG_APM_HARDWARE == APM_HARDWARE_APM1 GOBJECT(ins, "INS_", AP_InertialSensor_Oilpan), +#endif GOBJECT(gcs0, "SR0_", GCS_MAVLINK), GOBJECT(gcs3, "SR3_", GCS_MAVLINK), diff --git a/ArduPlane/Parameters.pde b/ArduPlane/Parameters.pde index 418a32e732c..7b3518120dc 100644 --- a/ArduPlane/Parameters.pde +++ b/ArduPlane/Parameters.pde @@ -524,7 +524,7 @@ const AP_Param::Info var_info[] PROGMEM = { GOBJECT(gcs0, "SR0_", GCS_MAVLINK), GOBJECT(gcs3, "SR3_", GCS_MAVLINK), -#if HIL_MODE == HIL_MODE_DISABLED +#if HIL_MODE == HIL_MODE_DISABLED && CONFIG_APM_HARDWARE == APM_HARDWARE_APM1 // @Group: INS_ // @Path: ../libraries/AP_InertialSensor/AP_InertialSensor_Oilpan.cpp GOBJECT(ins, "INS_", AP_InertialSensor_Oilpan),