Two tools are often used by ArduPilot to perform static analysis on the codebase, clang’s “scan build” option and Coverity.
You can do your own static analysis using autotest:
You may need to install clang for this to work.
On Ubuntu, “sudo apt-get install clang”
On Windows see https://clang.llvm.org/get_started.html
The results can be viewed in a web browser. The output of the scan step includes instructions, which look something like this:
On Ubuntu 18.04 one might actually need:
PYTHONPATH=/usr/lib/llvm-3.8/share/scan-view scan-view-3.8 tmp/scan-build-2020-08-11-114140-28761-1
Note that the current output from this tool has several false-positives and some positives-but-should-not-be-fixed.
- Things to not worry about:
- EKF assigning to variables but not reading from them
- these require too much review to be worthwhile in general
- memory leaks around “new AP_Frsky_Telem(true);” and similar calls.
- These create singletons which give another handle on the allocated memory.