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navigator precland initialize all fields

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- fixes coverity CID 264259
This commit is contained in:
Daniel Agar 2018-03-24 12:43:59 -04:00
parent ed261c76da
commit 0ef5d892a1
2 changed files with 19 additions and 32 deletions
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17
src/modules/navigator/precland.cpp
View File

@ -61,18 +61,7 @@
PrecLand::PrecLand(Navigator *navigator) :
MissionBlock(navigator),
ModuleParams(navigator),
_targetPoseSub(0),
_target_pose_valid(false),
_state_start_time(0),
_search_cnt(0),
_approach_alt(0)
{
}
void
PrecLand::on_inactive()
ModuleParams(navigator)
{
}
@ -127,7 +116,7 @@ PrecLand::on_active()
_target_pose_valid = true;
}
if (hrt_absolute_time() - _target_pose.timestamp > (uint64_t)(_param_timeout.get()*SEC2USEC)) {
if ((hrt_elapsed_time(&_target_pose.timestamp) / 1e-6f) > _param_timeout.get()) {
_target_pose_valid = false;
}
@ -278,7 +267,6 @@ PrecLand::run_state_horizontal_approach()
pos_sp_triplet->current.type = position_setpoint_s::SETPOINT_TYPE_POSITION;
_navigator->set_position_setpoint_triplet_updated();
}
void
@ -316,7 +304,6 @@ PrecLand::run_state_descend_above_target()
pos_sp_triplet->current.type = position_setpoint_s::SETPOINT_TYPE_LAND;
_navigator->set_position_setpoint_triplet_updated();
}
void

34
src/modules/navigator/precland.h
View File

@ -67,14 +67,10 @@ class PrecLand : public MissionBlock, public ModuleParams
{
public:
PrecLand(Navigator *navigator);
~PrecLand() override = default;
~PrecLand() = default;
virtual void on_inactive();
virtual void on_activation();
virtual void on_active();
void on_activation() override;
void on_active() override;
void set_mode(PrecLandMode mode) { _mode = mode; };
@ -103,22 +99,26 @@ private:
void slewrate(float &sp_x, float &sp_y);
landing_target_pose_s _target_pose{}; /**< precision landing target position */
int _targetPoseSub;
bool _target_pose_valid; /**< wether we have received a landing target position message */
int _targetPoseSub{-1};
bool _target_pose_valid{false}; /**< wether we have received a landing target position message */
struct map_projection_reference_s _map_ref {}; /**< reference for local/global projections */
uint64_t _state_start_time; /**< time when we entered current state */
uint64_t _last_slewrate_time; /**< time when we last limited setpoint changes */
uint64_t _target_acquired_time; /**< time when we first saw the landing target during search */
uint64_t _point_reached_time; /**< time when we reached a setpoint */
int _search_cnt; /**< counter of how many times we had to search for the landing target */
float _approach_alt; /**< altitude at which to stay during horizontal approach */
uint64_t _state_start_time{0}; /**< time when we entered current state */
uint64_t _last_slewrate_time{0}; /**< time when we last limited setpoint changes */
uint64_t _target_acquired_time{0}; /**< time when we first saw the landing target during search */
uint64_t _point_reached_time{0}; /**< time when we reached a setpoint */
int _search_cnt{0}; /**< counter of how many times we had to search for the landing target */
float _approach_alt{0.0f}; /**< altitude at which to stay during horizontal approach */
matrix::Vector2f _sp_pev;
matrix::Vector2f _sp_pev_prev;
PrecLandState _state;
PrecLandState _state{PrecLandState::Start};
PrecLandMode _mode;
PrecLandMode _mode{PrecLandMode::Opportunistic};
DEFINE_PARAMETERS(
(ParamFloat<px4::params::PLD_BTOUT>) _param_timeout,