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MAVLink: Use valid flag to initialize fields

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This commit is contained in:
Lorenz Meier
2016-05-15 15:38:01 +02:00
parent 7633797190
commit 55c879a0ab
2 changed files with 12 additions and 13 deletions
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src/modules/mavlink/mavlink_messages.cpp
+11 -12
View File
@@ -592,9 +592,9 @@ protected:
void send(const hrt_abstime t) void send(const hrt_abstime t)
{ {
struct vehicle_status_s status; struct vehicle_status_s status = {};
struct cpuload_s cpuload; struct cpuload_s cpuload = {};
struct battery_status_s battery_status; struct battery_status_s battery_status = {};
const bool updated_status = _status_sub->update(&status); const bool updated_status = _status_sub->update(&status);
const bool updated_cpuload = _cpuload_sub->update(&cpuload); const bool updated_cpuload = _cpuload_sub->update(&cpuload);
@@ -611,14 +611,13 @@ protected:
if (updated_status || updated_battery || updated_cpuload) { if (updated_status || updated_battery || updated_cpuload) {
mavlink_sys_status_t msg; mavlink_sys_status_t msg;
msg.onboard_control_sensors_present = status.onboard_control_sensors_present; msg.onboard_control_sensors_present = status.onboard_control_sensors_present;
msg.onboard_control_sensors_enabled = status.onboard_control_sensors_enabled; msg.onboard_control_sensors_enabled = status.onboard_control_sensors_enabled;
msg.onboard_control_sensors_health = status.onboard_control_sensors_health; msg.onboard_control_sensors_health = status.onboard_control_sensors_health;
msg.load = cpuload.load * 1000.0f; msg.load = cpuload.load * 1000.0f;
msg.voltage_battery = battery_status.voltage_filtered_v * 1000.0f; msg.voltage_battery = (battery_status.connected) ? battery_status.voltage_filtered_v * 1000.0f : UINT16_MAX;
msg.current_battery = battery_status.current_filtered_a * 100.0f; msg.current_battery = (battery_status.connected) ? battery_status.current_filtered_a * 100.0f : -1;
msg.battery_remaining = battery_status.remaining >= 0 ? battery_status.remaining * 100.0f : -1; msg.battery_remaining = (battery_status.connected) ? battery_status.remaining * 100.0f : -1;
// TODO: fill in something useful in the fields below // TODO: fill in something useful in the fields below
msg.drop_rate_comm = 0; msg.drop_rate_comm = 0;
msg.errors_comm = 0; msg.errors_comm = 0;
@@ -634,13 +633,13 @@ protected:
bat_msg.id = 0; bat_msg.id = 0;
bat_msg.battery_function = MAV_BATTERY_FUNCTION_ALL; bat_msg.battery_function = MAV_BATTERY_FUNCTION_ALL;
bat_msg.type = MAV_BATTERY_TYPE_LIPO; bat_msg.type = MAV_BATTERY_TYPE_LIPO;
bat_msg.current_consumed = battery_status.discharged_mah; bat_msg.current_consumed = (battery_status.connected) ? battery_status.discharged_mah : -1;
bat_msg.energy_consumed = -1; bat_msg.energy_consumed = -1;
bat_msg.current_battery = battery_status.current_a * 100; bat_msg.current_battery = (battery_status.connected) ? battery_status.current_filtered_a * 100 : -1;
bat_msg.battery_remaining = battery_status.remaining >= 0 ? battery_status.remaining * 100.0f : -1; bat_msg.battery_remaining = (battery_status.connected) ? battery_status.remaining * 100.0f : -1;
bat_msg.temperature = INT16_MAX; bat_msg.temperature = INT16_MAX;
for (unsigned int i = 0; i < (sizeof(bat_msg.voltages) / sizeof(bat_msg.voltages[0])); i++) { for (unsigned int i = 0; i < (sizeof(bat_msg.voltages) / sizeof(bat_msg.voltages[0])); i++) {
if ((int)i < battery_status.cell_count) { if ((int)i < battery_status.cell_count && battery_status.connected) {
bat_msg.voltages[i] = (battery_status.voltage_v / battery_status.cell_count) * 1000.0f; bat_msg.voltages[i] = (battery_status.voltage_v / battery_status.cell_count) * 1000.0f;
} else { } else {
bat_msg.voltages[i] = UINT16_MAX; bat_msg.voltages[i] = UINT16_MAX;
@@ -2686,7 +2685,7 @@ protected:
void send(const hrt_abstime t) void send(const hrt_abstime t)
{ {
struct vehicle_status_s status; struct vehicle_status_s status = {};
(void)_status_sub->update(&status); (void)_status_sub->update(&status);
mavlink_command_long_t msg; mavlink_command_long_t msg;
src/modules/mavlink/mavlink_orb_subscription.cpp
+1 -1
View File
@@ -86,7 +86,7 @@ MavlinkOrbSubscription::update(uint64_t *time, void* data)
} }
if (orb_copy(_topic, _fd, data)) { if (orb_copy(_topic, _fd, data)) {
if (data) { if (data != nullptr) {
/* error copying topic data */ /* error copying topic data */
memset(data, 0, _topic->o_size); memset(data, 0, _topic->o_size);
} }