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AP_HAL_SITL: disable SITL stack checking due to memory corruption #13276

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Jan 15, 2020
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AP_HAL_SITL: disable SITL stack checking due to memory corruption #13276

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11 changes: 10 additions & 1 deletion libraries/AP_HAL_SITL/Scheduler.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -17,6 +17,13 @@ using namespace HALSITL;

extern const AP_HAL::HAL& hal;

#ifndef SITL_STACK_CHECKING_ENABLED
//#define SITL_STACK_CHECKING_ENABLED !defined(__CYGWIN__) && !defined(__CYGWIN64__)
// stack checking is disabled until the memory corruption issues are
// fixed with pthread_attr_setstack. These may be due to
// changes in the way guard pages are handled.
#define SITL_STACK_CHECKING_ENABLED 0
#endif

AP_HAL::Proc Scheduler::_failsafe = nullptr;

Expand Down Expand Up @@ -233,7 +240,9 @@ void Scheduler::_run_io_procs()
hal.uartH->_timer_tick();
hal.storage->_timer_tick();

#if SITL_STACK_CHECKING_ENABLED
check_thread_stacks();
#endif

AP::RC().update();
}
Expand Down Expand Up @@ -316,7 +325,7 @@ bool Scheduler::thread_create(AP_HAL::MemberProc proc, const char *name, uint32_
a->name = name;

pthread_attr_init(&a->attr);
#if !defined(__CYGWIN__) && !defined(__CYGWIN64__)
#if SITL_STACK_CHECKING_ENABLED
if (pthread_attr_setstack(&a->attr, a->stack, alloc_stack) != 0) {
AP_HAL::panic("Failed to set stack of size %u for thread %s", alloc_stack, name);
}
Expand Down