FlightTasks: refactor NAN initializations, spacing

src/lib/flight_tasks/tasks/AutoMapper/FlightTaskAutoMapper.cpp

@@ -65,7 +65,7 @@ bool FlightTaskAutoMapper::update()
 	// vehicle exits idle.
 
 	if (_type_previous == WaypointType::idle) {
-		_thrust_setpoint = Vector3f(NAN, NAN, NAN);
+		_thrust_setpoint.setNaN();
 	}
 
 	// during mission and reposition, raise the landing gears but only
@@ -112,8 +112,8 @@ void FlightTaskAutoMapper::_reset()
 void FlightTaskAutoMapper::_generateIdleSetpoints()
 {
 	// Send zero thrust setpoint
-	_position_setpoint = Vector3f(NAN, NAN, NAN); // Don't require any position/velocity setpoints
+	_position_setpoint.setNaN(); // Don't require any position/velocity setpoints
-	_velocity_setpoint = Vector3f(NAN, NAN, NAN);
+	_velocity_setpoint.setNaN();
 	_thrust_setpoint.zero();
 }
 

src/lib/flight_tasks/tasks/AutoMapper2/FlightTaskAutoMapper2.cpp

@@ -57,7 +57,7 @@ bool FlightTaskAutoMapper2::update()
 	// vehicle exits idle.
 
 	if (_type_previous == WaypointType::idle) {
-		_thrust_setpoint = Vector3f(NAN, NAN, NAN);
+		_thrust_setpoint.setNaN();
 	}
 
 	// during mission and reposition, raise the landing gears but only
@@ -120,8 +120,8 @@ void FlightTaskAutoMapper2::_reset()
 void FlightTaskAutoMapper2::_prepareIdleSetpoints()
 {
 	// Send zero thrust setpoint
-	_position_setpoint = Vector3f(NAN, NAN, NAN); // Don't require any position/velocity setpoints
+	_position_setpoint.setNaN(); // Don't require any position/velocity setpoints
-	_velocity_setpoint = Vector3f(NAN, NAN, NAN);
+	_velocity_setpoint.setNaN();
 	_thrust_setpoint.zero();
 }
 

src/lib/flight_tasks/tasks/FlightTask/FlightTask.cpp

@@ -105,11 +105,11 @@ const vehicle_local_position_setpoint_s FlightTask::getPositionSetpoint()
 
 void FlightTask::_resetSetpoints()
 {
-	_position_setpoint.setAll(NAN);
+	_position_setpoint.setNaN();
-	_velocity_setpoint.setAll(NAN);
+	_velocity_setpoint.setNaN();
-	_acceleration_setpoint.setAll(NAN);
+	_acceleration_setpoint.setNaN();
-	_jerk_setpoint.setAll(NAN);
+	_jerk_setpoint.setNaN();
-	_thrust_setpoint.setAll(NAN);
+	_thrust_setpoint.setNaN();
 	_yaw_setpoint = _yawspeed_setpoint = NAN;
 }
 

src/lib/flight_tasks/tasks/FlightTask/FlightTask.hpp

@@ -168,10 +168,9 @@ public:
 					const matrix::Vector3f &thrust_sp) {_velocity_setpoint_feedback = vel_sp; _thrust_setpoint_feedback = thrust_sp; }
 
 protected:
-
+	uORB::SubscriptionData<vehicle_local_position_s> _sub_vehicle_local_position{ORB_ID(vehicle_local_position)};
-	uORB::SubscriptionData<vehicle_local_position_s>	_sub_vehicle_local_position{ORB_ID(vehicle_local_position)};
+	uORB::SubscriptionData<vehicle_attitude_s> _sub_attitude{ORB_ID(vehicle_attitude)};
-	uORB::SubscriptionData<vehicle_attitude_s>		_sub_attitude{ORB_ID(vehicle_attitude)};
+	uORB::SubscriptionData<home_position_s> _sub_home_position{ORB_ID(home_position)};
-	uORB::SubscriptionData<home_position_s> 		_sub_home_position{ORB_ID(home_position)};
 
 	/** Reset all setpoints to NAN */
 	void _resetSetpoints();
@@ -201,18 +200,18 @@ protected:
 
 	/* Time abstraction */
 	static constexpr uint64_t _timeout = 500000; /**< maximal time in us before a loop or data times out */
-	float _time = 0; /**< passed time in seconds since the task was activated */
+	float _time{}; /**< passed time in seconds since the task was activated */
-	float _deltatime = 0; /**< passed time in seconds since the task was last updated */
+	float _deltatime{}; /**< passed time in seconds since the task was last updated */
-	hrt_abstime _time_stamp_activate = 0; /**< time stamp when task was activated */
+	hrt_abstime _time_stamp_activate{}; /**< time stamp when task was activated */
-	hrt_abstime _time_stamp_current = 0; /**< time stamp at the beginning of the current task update */
+	hrt_abstime _time_stamp_current{}; /**< time stamp at the beginning of the current task update */
-	hrt_abstime _time_stamp_last = 0; /**< time stamp when task was last updated */
+	hrt_abstime _time_stamp_last{}; /**< time stamp when task was last updated */
 
 	/* Current vehicle state */
 	matrix::Vector3f _position; /**< current vehicle position */
 	matrix::Vector3f _velocity; /**< current vehicle velocity */
-	float _yaw = 0.f; /**< current vehicle yaw heading */
+	float _yaw{}; /**< current vehicle yaw heading */
-	float _dist_to_bottom = 0.f; /**< current height above ground level */
+	float _dist_to_bottom{}; /**< current height above ground level */
-	float _dist_to_ground = 0.f; /**< equals _dist_to_bottom if valid, height above home otherwise */
+	float _dist_to_ground{}; /**< equals _dist_to_bottom if valid, height above home otherwise */
 
 	/**
 	 * Setpoints which the position controller has to execute.
@@ -227,20 +226,20 @@ protected:
 	matrix::Vector3f _acceleration_setpoint;
 	matrix::Vector3f _jerk_setpoint;
 	matrix::Vector3f _thrust_setpoint;
-	float _yaw_setpoint;
+	float _yaw_setpoint{};
-	float _yawspeed_setpoint;
+	float _yawspeed_setpoint{};
 
 	matrix::Vector3f _velocity_setpoint_feedback;
 	matrix::Vector3f _thrust_setpoint_feedback;
 
 	/* Counters for estimator local position resets */
 	struct {
-		uint8_t xy = 0;
+		uint8_t xy;
-		uint8_t vxy = 0;
+		uint8_t vxy;
-		uint8_t z = 0;
+		uint8_t z;
-		uint8_t vz = 0;
+		uint8_t vz;
-		uint8_t quat = 0;
+		uint8_t quat;
-	} _reset_counters;
+	} _reset_counters{};
 
 	/**
 	 * Vehicle constraints.

src/lib/flight_tasks/tasks/ManualAltitudeSmoothVel/FlightTaskManualAltitudeSmoothVel.hpp

@@ -52,7 +52,6 @@ public:
 	void reActivate() override;
 
 protected:
-
 	virtual void _updateSetpoints() override;
 
 	/** Reset position or velocity setpoints in case of EKF reset event */
@@ -66,7 +65,6 @@ protected:
 	)
 
 private:
-
 	void checkSetpoints(vehicle_local_position_setpoint_s &setpoints);
 
 	void _updateTrajConstraints();

src/lib/flight_tasks/tasks/ManualPositionSmooth/FlightTaskManualPositionSmooth.cpp

@@ -65,5 +65,4 @@ void FlightTaskManualPositionSmooth::_updateSetpoints()
 
 	/* Check for altitude lock*/
 	_updateAltitudeLock();
-
 }

src/lib/flight_tasks/tasks/Transition/FlightTaskTransition.cpp

@@ -69,7 +69,7 @@ void FlightTaskTransition::updateAccelerationEstimate()
 	if (!PX4_ISFINITE(_acceleration_setpoint(0)) ||
 	    !PX4_ISFINITE(_acceleration_setpoint(1)) ||
 	    !PX4_ISFINITE(_acceleration_setpoint(2))) {
-		_acceleration_setpoint.setAll(0.f);
+		_acceleration_setpoint.setZero();
 	}
 
 	_velocity_prev = _velocity;
@@ -78,11 +78,8 @@ void FlightTaskTransition::updateAccelerationEstimate()
 bool FlightTaskTransition::update()
 {
 	// level wings during the transition, altitude should be controlled
-	_thrust_setpoint(0) = _thrust_setpoint(1) = 0.0f;
-	_thrust_setpoint(2) = NAN;
-	_position_setpoint *= NAN;
-	_velocity_setpoint *= NAN;
 	_position_setpoint(2) = _transition_altitude;
+	_thrust_setpoint.xy() = matrix::Vector2f(0.f, 0.f);
 
 	updateAccelerationEstimate();