gps & mavlink receiver: use C arrays instead of std::array<>

src/drivers/gps/gps.cpp

@@ -59,7 +59,6 @@
 #include <stdbool.h>
 #include <stdlib.h>
 #include <string.h>
-#include <array>
 #include <poll.h>
 #include <errno.h>
 #include <stdio.h>
@@ -131,7 +130,8 @@ private:
 	float				_rate;						///< position update rate
 	bool				_fake_gps;					///< fake gps output
 
-	std::array<int, 4> _orb_inject_data_fd;
+	static const int _orb_inject_data_fd_count = 4;
+	int _orb_inject_data_fd[_orb_inject_data_fd_count];
 	int _orb_inject_data_next = 0;
 
 	/**
@@ -238,7 +238,7 @@ GPS::GPS(const char *uart_path, bool fake_gps, bool enable_sat_info) :
 		memset(_p_report_sat_info, 0, sizeof(*_p_report_sat_info));
 	}
 
-	for (int i = 0; i < _orb_inject_data_fd.size(); ++i) {
+	for (int i = 0; i < _orb_inject_data_fd_count; ++i) {
 		_orb_inject_data_fd[i] = orb_subscribe_multi(ORB_ID(gps_inject_data), i);
 	}
 }
@@ -248,7 +248,7 @@ GPS::~GPS()
 	/* tell the task we want it to go away */
 	_task_should_exit = true;
 
-	for (size_t i = 0; i < _orb_inject_data_fd.size(); ++i) {
+	for (size_t i = 0; i < _orb_inject_data_fd_count; ++i) {
 		orb_unsubscribe(_orb_inject_data_fd[i]);
 	}
 
@@ -384,7 +384,7 @@ void GPS::handleInjectDataTopic()
 			orb_copy(ORB_ID(gps_inject_data), orb_inject_data_cur_fd, &msg);
 			injectData(msg.data, msg.len);
 
-			_orb_inject_data_next = (_orb_inject_data_next + 1) % _orb_inject_data_fd.size();
+			_orb_inject_data_next = (_orb_inject_data_next + 1) % _orb_inject_data_fd_count;
 
 		}
 	} while (updated);

src/modules/mavlink/mavlink_receiver.cpp

@@ -125,7 +125,6 @@ MavlinkReceiver::MavlinkReceiver(Mavlink *parent) :
 	_time_offset_pub(nullptr),
 	_follow_target_pub(nullptr),
 	_transponder_report_pub(nullptr),
-	_gps_inject_data_pub(),
 	_control_mode_sub(orb_subscribe(ORB_ID(vehicle_control_mode))),
 	_hil_frames(0),
 	_old_timestamp(0),
@@ -144,7 +143,9 @@ MavlinkReceiver::MavlinkReceiver(Mavlink *parent) :
 	_mom_switch_pos{},
 	_mom_switch_state(0)
 {
-	_gps_inject_data_pub.fill(nullptr);
+	for (int i = 0; i < _gps_inject_data_pub_size; ++i) {
+		_gps_inject_data_pub[i] = nullptr;
+	}
 }
 
 MavlinkReceiver::~MavlinkReceiver()
@@ -1784,7 +1785,7 @@ void MavlinkReceiver::handle_message_gps_inject_data(mavlink_message_t *msg)
 		orb_publish(ORB_ID(gps_inject_data), pub, &gps_inject_data_topic);
 	}
 
-	_gps_inject_data_next_idx = (_gps_inject_data_next_idx + 1) % _gps_inject_data_pub.size();
+	_gps_inject_data_next_idx = (_gps_inject_data_next_idx + 1) % _gps_inject_data_pub_size;
 
 }
 

src/modules/mavlink/mavlink_receiver.h

@@ -78,8 +78,6 @@
 #include <uORB/topics/transponder_report.h>
 #include <uORB/topics/gps_inject_data.h>
 
-#include <array>
-
 #include "mavlink_ftp.h"
 
 #define PX4_EPOCH_SECS 1234567890ULL
@@ -207,7 +205,8 @@ private:
 	orb_advert_t _time_offset_pub;
 	orb_advert_t _follow_target_pub;
 	orb_advert_t _transponder_report_pub;
-	std::array<orb_advert_t, 4> _gps_inject_data_pub;
+	static const int _gps_inject_data_pub_size = 4;
+	orb_advert_t _gps_inject_data_pub[_gps_inject_data_pub_size];
 	int _gps_inject_data_next_idx = 0;
 	int _control_mode_sub;
 	int _hil_frames;