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orb_advert_t changed to void * and checks changed to nullptr

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The existing orb_advert_t use thoughout the code sometimes tries
to treat it as a file descriptor and there are checks for < 0
and ::close calls on orb_advert_t types which is an invalid use
of an object pointer, which is what orb_advert_t really is.

Initially I had changed the -1 initializations to 0 but it was
suggested that this should be nullptr. That was a good recommendation
but the definition of orb_advert_t had to change to void * because
you cannot initialize a uintptr_t as nullptr.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
This commit is contained in:
Mark Charlebois
2015-05-27 14:42:49 -07:00
committed by Lorenz Meier
parent 180c8b0cb0
commit 1ca05aaa64
59 changed files with 263 additions and 269 deletions
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src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
+10 -10
View File
@@ -129,11 +129,11 @@ AttitudePositionEstimatorEKF::AttitudePositionEstimatorEKF() :
_armedSub(-1),
/* publications */
_att_pub(0),
_global_pos_pub(0),
_local_pos_pub(0),
_estimator_status_pub(0),
_wind_pub(0),
_att_pub(nullptr),
_global_pos_pub(nullptr),
_local_pos_pub(nullptr),
_estimator_status_pub(nullptr),
_wind_pub(nullptr),
_att({}),
_gyro({}),
@@ -469,7 +469,7 @@ int AttitudePositionEstimatorEKF::check_filter_state()
if (_estimator_status_pub > 0) {
if (_estimator_status_pub != nullptr) {
orb_publish(ORB_ID(estimator_status), _estimator_status_pub, &rep);
} else {
@@ -797,7 +797,7 @@ void AttitudePositionEstimatorEKF::publishAttitude()
_att.rate_offsets[2] = _ekf->states[12] / _ekf->dtIMUfilt;
/* lazily publish the attitude only once available */
if (_att_pub > 0) {
if (_att_pub != nullptr) {
/* publish the attitude setpoint */
orb_publish(ORB_ID(vehicle_attitude), _att_pub, &_att);
@@ -830,7 +830,7 @@ void AttitudePositionEstimatorEKF::publishLocalPosition()
_local_pos.yaw = _att.yaw;
/* lazily publish the local position only once available */
if (_local_pos_pub > 0) {
if (_local_pos_pub != nullptr) {
/* publish the attitude setpoint */
orb_publish(ORB_ID(vehicle_local_position), _local_pos_pub, &_local_pos);
@@ -878,7 +878,7 @@ void AttitudePositionEstimatorEKF::publishGlobalPosition()
_global_pos.epv = _gps.epv;
/* lazily publish the global position only once available */
if (_global_pos_pub > 0) {
if (_global_pos_pub != nullptr) {
/* publish the global position */
orb_publish(ORB_ID(vehicle_global_position), _global_pos_pub, &_global_pos);
@@ -900,7 +900,7 @@ void AttitudePositionEstimatorEKF::publishWindEstimate()
_wind.covariance_east = _ekf->P[15][15];
/* lazily publish the wind estimate only once available */
if (_wind_pub > 0) {
if (_wind_pub != nullptr) {
/* publish the wind estimate */
orb_publish(ORB_ID(wind_estimate), _wind_pub, &_wind);