From 59f71452d71ca6ad512a722946e67dc89db3b18b Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Sun, 20 Sep 2015 12:55:48 +0200
Subject: [PATCH] Sensor sim: Initialize sensor data to zero

---
 src/platforms/posix/drivers/accelsim/accelsim.cpp |  9 +++++----
 src/platforms/posix/drivers/gyrosim/gyrosim.cpp   | 14 ++++++++------
 2 files changed, 13 insertions(+), 10 deletions(-)

diff --git a/src/platforms/posix/drivers/accelsim/accelsim.cpp b/src/platforms/posix/drivers/accelsim/accelsim.cpp
index cc299b5847..fa0a256605 100644
--- a/src/platforms/posix/drivers/accelsim/accelsim.cpp
+++ b/src/platforms/posix/drivers/accelsim/accelsim.cpp
@@ -448,6 +448,9 @@ ACCELSIM::init()
 {
 	int ret = ERROR;
 
+	struct mag_report mrp = {};
+	struct accel_report arp = {};
+
 	/* do SIM init first */
 	if (VDev::init() != OK) {
 		PX4_WARN("SIM init failed");
@@ -478,7 +481,6 @@ ACCELSIM::init()
 	measure();
 
 	/* advertise sensor topic, measure manually to initialize valid report */
-	struct mag_report mrp;
 	_mag_reports->get(&mrp);
 
 	/* measurement will have generated a report, publish */
@@ -493,7 +495,6 @@ ACCELSIM::init()
 	_accel_class_instance = register_class_devname(ACCEL_BASE_DEVICE_PATH);
 
 	/* advertise sensor topic, measure manually to initialize valid report */
-	struct accel_report arp = {};
 	_accel_reports->get(&arp);
 
 	/* measurement will have generated a report, publish */
@@ -1014,7 +1015,7 @@ ACCELSIM::measure()
 	} raw_accel_report;
 #pragma pack(pop)
 
-	accel_report accel_report;
+	accel_report accel_report = {};
 
 	/* start the performance counter */
 	perf_begin(_accel_sample_perf);
@@ -1023,7 +1024,7 @@ ACCELSIM::measure()
 	memset(&raw_accel_report, 0, sizeof(raw_accel_report));
 	raw_accel_report.cmd = DIR_READ | ACC_READ;
 
-	if(OK != transfer((uint8_t *)&raw_accel_report, (uint8_t *)&raw_accel_report, sizeof(raw_accel_report))) {
+	if (OK != transfer((uint8_t *)&raw_accel_report, (uint8_t *)&raw_accel_report, sizeof(raw_accel_report))) {
 		return;
 	}
 
diff --git a/src/platforms/posix/drivers/gyrosim/gyrosim.cpp b/src/platforms/posix/drivers/gyrosim/gyrosim.cpp
index 850bf0f9d1..50cc5091d8 100644
--- a/src/platforms/posix/drivers/gyrosim/gyrosim.cpp
+++ b/src/platforms/posix/drivers/gyrosim/gyrosim.cpp
@@ -419,6 +419,9 @@ GYROSIM::init()
 		return ret;
 	}
 
+	struct accel_report arp = {};
+	struct gyro_report grp = {};
+
 	/* allocate basic report buffers */
 	_accel_reports = new ringbuffer::RingBuffer(2, sizeof(accel_report));
 	if (_accel_reports == nullptr) {
@@ -466,7 +469,6 @@ GYROSIM::init()
 	measure();
 
 	/* advertise sensor topic, measure manually to initialize valid report */
-	struct accel_report arp = {};
 	_accel_reports->get(&arp);
 
 	/* measurement will have generated a report, publish */
@@ -482,7 +484,6 @@ GYROSIM::init()
 
 
 	/* advertise sensor topic, measure manually to initialize valid report */
-	struct gyro_report grp = {};
 	_gyro_reports->get(&grp);
 
 	_gyro->_gyro_topic = orb_advertise_multi(ORB_ID(sensor_gyro), &grp,
@@ -511,8 +512,9 @@ GYROSIM::transfer(uint8_t *send, uint8_t *recv, unsigned len)
 	if (cmd == MPUREAD) {
 		// Get data from the simulator
 		Simulator *sim = Simulator::getInstance();
-		if (sim == NULL)
+		if (sim == NULL) {
 			return ENODEV;
+		}
 
 		// FIXME - not sure what interrupt status should be
 		recv[1] = 0;
@@ -1012,7 +1014,7 @@ GYROSIM::measure()
 		x++;
 	}
 #endif
-	struct MPUReport mpu_report;
+	struct MPUReport mpu_report = {};
 
 	/* start measuring */
 	perf_begin(_sample_perf);
@@ -1031,8 +1033,8 @@ GYROSIM::measure()
 	/*
 	 * Report buffers.
 	 */
-	accel_report	arb;
-	gyro_report	grb;
+	accel_report	arb = {};
+	gyro_report	grb = {};
 
 	// for now use local time but this should be the timestamp of the simulator
 	grb.timestamp = hrt_absolute_time();