fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-20 09:43:34 +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_pos_control/mc_pos_control_main.cpp
+7 -7
View File
@@ -307,9 +307,9 @@ MulticopterPositionControl::MulticopterPositionControl() :
_global_vel_sp_sub(-1),
/* publications */
_att_sp_pub(0),
_local_pos_sp_pub(0),
_global_vel_sp_pub(0),
_att_sp_pub(nullptr),
_local_pos_sp_pub(nullptr),
_global_vel_sp_pub(nullptr),
_ref_alt(0.0f),
_ref_timestamp(0),
@@ -1023,7 +1023,7 @@ MulticopterPositionControl::task_main()
_att_sp.timestamp = hrt_absolute_time();
/* publish attitude setpoint */
if (_att_sp_pub > 0) {
if (_att_sp_pub != nullptr) {
orb_publish(ORB_ID(vehicle_attitude_setpoint), _att_sp_pub, &_att_sp);
} else {
@@ -1057,7 +1057,7 @@ MulticopterPositionControl::task_main()
_global_vel_sp.vz = _vel_sp(2);
/* publish velocity setpoint */
if (_global_vel_sp_pub > 0) {
if (_global_vel_sp_pub != nullptr) {
orb_publish(ORB_ID(vehicle_global_velocity_setpoint), _global_vel_sp_pub, &_global_vel_sp);
} else {
@@ -1342,7 +1342,7 @@ MulticopterPositionControl::task_main()
_local_pos_sp.vz = _vel_sp(2);
/* publish local position setpoint */
if (_local_pos_sp_pub > 0) {
if (_local_pos_sp_pub != nullptr) {
orb_publish(ORB_ID(vehicle_local_position_setpoint), _local_pos_sp_pub, &_local_pos_sp);
} else {
_local_pos_sp_pub = orb_advertise(ORB_ID(vehicle_local_position_setpoint), &_local_pos_sp);
@@ -1418,7 +1418,7 @@ MulticopterPositionControl::task_main()
if (!(_control_mode.flag_control_offboard_enabled &&
!(_control_mode.flag_control_position_enabled ||
_control_mode.flag_control_velocity_enabled))) {
if (_att_sp_pub > 0) {
if (_att_sp_pub != nullptr) {
orb_publish(ORB_ID(vehicle_attitude_setpoint), _att_sp_pub, &_att_sp);
} else {