fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-18 02:13:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

Navigator: initialize _mission_item for all navigation modes in Navigator::Navigator()

Browse Source 
This fixes the issue where the init happended in the initializer list, at which point
the params were not yet initialized and thus resulted in random values for the init
values of _mission_item.loiter_radius and .acceptance_radius.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2022-10-27 10:28:05 +02:00
parent b834f2b5e3
commit 605d4c47b9
4 changed files with 25 additions and 9 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/navigator/mission_block.cpp
+14 -8
View File
@@ -59,14 +59,7 @@ using matrix::wrap_pi;
MissionBlock::MissionBlock(Navigator *navigator) :
NavigatorMode(navigator)
{
_mission_item.lat = (double)NAN;
_mission_item.lon = (double)NAN;
_mission_item.yaw = NAN;
_mission_item.loiter_radius = _navigator->get_loiter_radius();
_mission_item.acceptance_radius = _navigator->get_acceptance_radius();
_mission_item.time_inside = 0.0f;
_mission_item.autocontinue = true;
_mission_item.origin = ORIGIN_ONBOARD;
}
bool
@@ -932,3 +925,16 @@ MissionBlock::get_absolute_altitude_for_item(const mission_item_s &mission_item)
return mission_item.altitude;
}
}
void
MissionBlock::initialize()
{
_mission_item.lat = (double)NAN;
_mission_item.lon = (double)NAN;
_mission_item.yaw = NAN;
_mission_item.loiter_radius = _navigator->get_loiter_radius();
_mission_item.acceptance_radius = _navigator->get_acceptance_radius();
_mission_item.time_inside = 0.0f;
_mission_item.autocontinue = true;
_mission_item.origin = ORIGIN_ONBOARD;
}