c++11 initialization cleanup (#237)

EKF/ekf.cpp

@@ -146,10 +146,6 @@ Ekf::Ekf():
 	_dt_ekf_avg = 0.001f * (float)(FILTER_UPDATE_PERIOD_MS);
 }
 
-Ekf::~Ekf()
-{
-}
-
 bool Ekf::init(uint64_t timestamp)
 {
 	bool ret = initialise_interface(timestamp);

EKF/ekf.h

@@ -48,7 +48,7 @@ class Ekf : public EstimatorInterface
 public:
 
 	Ekf();
-	~Ekf();
+	~Ekf() = default;
 
 	// initialise variables to sane values (also interface class)
 	bool init(uint64_t timestamp);
@@ -245,13 +245,13 @@ private:
 
 	matrix::Dcm<float> _R_to_earth;	// transformation matrix from body frame to earth frame from last EKF predition
 
-	float P[_k_num_states][_k_num_states];	// state covariance matrix
+	float P[_k_num_states][_k_num_states]{};	// state covariance matrix
 
-	float _vel_pos_innov[6];	// innovations: 0-2 vel,  3-5 pos
-	float _vel_pos_innov_var[6];	// innovation variances: 0-2 vel, 3-5 pos
+	float _vel_pos_innov[6]{};	// innovations: 0-2 vel,  3-5 pos
+	float _vel_pos_innov_var[6]{};	// innovation variances: 0-2 vel, 3-5 pos
 
-	float _mag_innov[3];		// earth magnetic field innovations
-	float _mag_innov_var[3];	// earth magnetic field innovation variance
+	float _mag_innov[3]{};		// earth magnetic field innovations
+	float _mag_innov_var[3]{};	// earth magnetic field innovation variance
 
 	float _airspeed_innov;		// airspeed measurement innovation
 	float _airspeed_innov_var;	// airspeed measurement innovation variance
@@ -263,8 +263,8 @@ private:
 	float _heading_innov_var;	// heading measurement innovation variance
 
 	// optical flow processing
-	float _flow_innov[2];		// flow measurement innovation
-	float _flow_innov_var[2];	// flow innovation variance
+	float _flow_innov[2]{};		// flow measurement innovation
+	float _flow_innov_var[2]{};	// flow innovation variance
 	Vector3f _flow_gyro_bias;	// bias errors in optical flow sensor rate gyro outputs
 	Vector3f _imu_del_ang_of;	// bias corrected delta angle measurements accumulated across the same time frame as the optical flow rates
 	float _delta_time_of;		// time in sec that _imu_del_ang_of was accumulated over
@@ -277,7 +277,7 @@ private:
 	Quaternion _q_down_sampled;	// down sampled quaternion (tracking delta angles between ekf update steps)
 	Vector3f _vel_err_integ;	// integral of velocity tracking error
 	Vector3f _pos_err_integ;	// integral of position tracking error
-	float _output_tracking_error[3];// contains the magnitude of the angle, velocity and position track errors (rad, m/s, m)
+	float _output_tracking_error[3]{};// contains the magnitude of the angle, velocity and position track errors (rad, m/s, m)
 
 	// variables used for the GPS quality checks
 	float _gpsDriftVelN;		// GPS north position derivative (m/s)
@@ -306,7 +306,7 @@ private:
 	// Variables used to control activation of post takeoff functionality
 	float _last_on_ground_posD; // last vertical position when the in_air status was false (m)
 
-	gps_check_fail_status_u _gps_check_fail_status;
+	gps_check_fail_status_u _gps_check_fail_status{};
 
 	// Terrain height state estimation
 	float _terrain_vpos;		// estimated vertical position of the terrain underneath the vehicle in local NED frame (m)

EKF/ekf_helper.cpp

@@ -774,7 +774,7 @@ void Ekf::get_innovation_test_status(uint16_t *status, float *mag, float *vel, f
 // return a bitmask integer that describes which state estimates are valid
 void Ekf::get_ekf_soln_status(uint16_t *status)
 {
-	ekf_solution_status soln_status;
+	ekf_solution_status soln_status{};
 	soln_status.flags.attitude = _control_status.flags.tilt_align && _control_status.flags.yaw_align && (_fault_status.value == 0);
 	soln_status.flags.velocity_horiz = (_control_status.flags.gps || _control_status.flags.ev_pos || _control_status.flags.opt_flow) && (_fault_status.value == 0);
 	soln_status.flags.velocity_vert = (_control_status.flags.baro_hgt || _control_status.flags.ev_hgt || _control_status.flags.gps_hgt || _control_status.flags.rng_hgt) && (_fault_status.value == 0);

EKF/estimator_interface.cpp

@@ -89,11 +89,6 @@ EstimatorInterface::EstimatorInterface():
 	_delta_vel_prev.setZero();
 }
 
-EstimatorInterface::~EstimatorInterface()
-{
-
-}
-
 // Accumulate imu data and store to buffer at desired rate
 void EstimatorInterface::setIMUData(uint64_t time_usec, uint64_t delta_ang_dt, uint64_t delta_vel_dt, float (&delta_ang)[3],
 				    float (&delta_vel)[3])
@@ -227,7 +222,7 @@ void EstimatorInterface::setBaroData(uint64_t time_usec, float data)
 	// limit data rate to prevent data being lost
 	if (time_usec - _time_last_baro > _min_obs_interval_us) {
 
-		baroSample baro_sample_new;
+		baroSample baro_sample_new{};
 		baro_sample_new.hgt = data;
 		baro_sample_new.time_us = time_usec - _params.baro_delay_ms * 1000;
 
@@ -248,7 +243,7 @@ void EstimatorInterface::setAirspeedData(uint64_t time_usec, float true_airspeed
 
 	// limit data rate to prevent data being lost
 	if (time_usec - _time_last_airspeed > _min_obs_interval_us) {
-		airspeedSample airspeed_sample_new;
+		airspeedSample airspeed_sample_new{};
 		airspeed_sample_new.true_airspeed = true_airspeed;
 		airspeed_sample_new.eas2tas = eas2tas;
 		airspeed_sample_new.time_us = time_usec - _params.airspeed_delay_ms * 1000;

EKF/estimator_interface.h

@@ -52,7 +52,7 @@ class EstimatorInterface
 
 public:
 	EstimatorInterface();
-	~EstimatorInterface();
+	~EstimatorInterface() = default;
 
 	virtual bool init(uint64_t timestamp) = 0;
 	virtual bool update() = 0;
@@ -328,7 +328,7 @@ protected:
 	float _tas_test_ratio;		// tas innovation consistency check ratio
 	float _terr_test_ratio;		// height above terrain measurement innovation consistency check ratio
 	float _beta_test_ratio;			// sideslip innovation consistency check ratio
-	innovation_fault_status_u _innov_check_fail_status;
+	innovation_fault_status_u _innov_check_fail_status{};
 
 	// IMU vibration monitoring
 	Vector3f _delta_ang_prev;	// delta angle from the previous IMU measurement
@@ -358,7 +358,7 @@ protected:
 	uint64_t _time_last_ext_vision; // timestamp of last external vision measurement in microseconds
 	uint64_t _time_last_optflow;
 
-	fault_status_u _fault_status;
+	fault_status_u _fault_status{};
 
 	// allocate data buffers and intialise interface variables
 	bool initialise_interface(uint64_t timestamp);
@@ -370,10 +370,10 @@ protected:
 	float _mag_declination_to_save_deg; // magnetic declination to save to EKF2_MAG_DECL (deg)
 
 	// this is the current status of the filter control modes
-	filter_control_status_u _control_status;
+	filter_control_status_u _control_status{};
 
 	// this is the previous status of the filter control modes - used to detect mode transitions
-	filter_control_status_u _control_status_prev;
+	filter_control_status_u _control_status_prev{};
 
 	// perform a vector cross product
 	Vector3f cross_product(const Vector3f &vecIn1, const Vector3f &vecIn2);

EKF/gps_checks.cpp

@@ -99,8 +99,6 @@ bool Ekf::collect_gps(uint64_t time_usec, struct gps_message *gps)
 
 	// start collecting GPS if there is a 3D fix and the NED origin has been set
 	return _NED_origin_initialised && (gps->fix_type >= 3);
-
-	return false;
 }
 
 /*