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fix init of published structs

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This commit is contained in:
Thomas Gubler
2014-12-25 13:40:14 +01:00
parent a93362c700
commit 195472fddf
2 changed files with 16 additions and 4 deletions
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src/modules/mc_att_control/mc_att_control_base.cpp
+4 -4
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@@ -58,8 +58,8 @@ MulticopterAttitudeControlBase::MulticopterAttitudeControlBase() :
_publish_att_sp(false)
{
memset(&_v_rates_sp, 0, sizeof(_v_att_sp_mod));
memset(&_v_rates_sp, 0, sizeof(_v_rates_sp_mod));
memset(&_v_att_sp_mod, 0, sizeof(_v_att_sp_mod));
memset(&_v_rates_sp_mod, 0, sizeof(_v_rates_sp_mod));
memset(&_actuators, 0, sizeof(_actuators));
_params.att_p.zero();
@@ -98,7 +98,7 @@ void MulticopterAttitudeControlBase::control_attitude(float dt)
if (_v_control_mode->get().flag_control_velocity_enabled
|| _v_control_mode->get().flag_control_climb_rate_enabled) {
/* in assisted modes poll 'vehicle_attitude_setpoint' topic and modify it */
_v_att_sp_mod = _v_att_sp->get();
memcpy(&_v_att_sp_mod, _v_att_sp->get_void_ptr(), sizeof(_v_att_sp_mod));
}
if (!_v_control_mode->get().flag_control_climb_rate_enabled) {
@@ -157,7 +157,7 @@ void MulticopterAttitudeControlBase::control_attitude(float dt)
} else {
/* in non-manual mode use 'vehicle_attitude_setpoint' topic */
_v_att_sp_mod = _v_att_sp->get();
memcpy(&_v_att_sp_mod, _v_att_sp->get_void_ptr(), sizeof(_v_att_sp_mod));
/* reset yaw setpoint after non-manual control mode */
_reset_yaw_sp = true;