fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-21 11:03:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

orb_advert_t changed to void * and checks changed to nullptr

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/mc_att_control/mc_att_control_main.cpp
+8 -8
View File
@@ -314,10 +314,10 @@ MulticopterAttitudeControl::MulticopterAttitudeControl() :
_vehicle_status_sub(-1),
/* publications */
_att_sp_pub(0),
_v_rates_sp_pub(0),
_actuators_0_pub(0),
_controller_status_pub(0),
_att_sp_pub(nullptr),
_v_rates_sp_pub(nullptr),
_actuators_0_pub(nullptr),
_controller_status_pub(nullptr),
_rates_sp_id(0),
_actuators_id(0),
@@ -822,7 +822,7 @@ MulticopterAttitudeControl::task_main()
_v_rates_sp.thrust = _thrust_sp;
_v_rates_sp.timestamp = hrt_absolute_time();
if (_v_rates_sp_pub > 0) {
if (_v_rates_sp_pub != nullptr) {
orb_publish(_rates_sp_id, _v_rates_sp_pub, &_v_rates_sp);
} else if (_rates_sp_id) {
@@ -843,7 +843,7 @@ MulticopterAttitudeControl::task_main()
_v_rates_sp.thrust = _thrust_sp;
_v_rates_sp.timestamp = hrt_absolute_time();
if (_v_rates_sp_pub > 0) {
if (_v_rates_sp_pub != nullptr) {
orb_publish(_rates_sp_id, _v_rates_sp_pub, &_v_rates_sp);
} else if (_rates_sp_id) {
@@ -877,7 +877,7 @@ MulticopterAttitudeControl::task_main()
_controller_status.timestamp = hrt_absolute_time();
if (!_actuators_0_circuit_breaker_enabled) {
if (_actuators_0_pub > 0) {
if (_actuators_0_pub != nullptr) {
orb_publish(_actuators_id, _actuators_0_pub, &_actuators);
perf_end(_controller_latency_perf);
@@ -888,7 +888,7 @@ MulticopterAttitudeControl::task_main()
}
/* publish controller status */
if(_controller_status_pub > 0) {
if(_controller_status_pub != nullptr) {
orb_publish(ORB_ID(mc_att_ctrl_status),_controller_status_pub, &_controller_status);
} else {
_controller_status_pub = orb_advertise(ORB_ID(mc_att_ctrl_status), &_controller_status);