From 623ef6d67c76596aa000986210f846ac408465f8 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Fri, 13 May 2016 10:34:47 +0200 Subject: [PATCH] MC pos control: Use default initializers --- .../mc_pos_control/mc_pos_control_main.cpp | 22 ++++++++++--------- 1 file changed, 12 insertions(+), 10 deletions(-) diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp index 7421878c54..8dd6672071 100644 --- a/src/modules/mc_pos_control/mc_pos_control_main.cpp +++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp @@ -374,6 +374,17 @@ MulticopterPositionControl::MulticopterPositionControl() : _local_pos_sp_pub(nullptr), _global_vel_sp_pub(nullptr), _attitude_setpoint_id(0), + _vehicle_status{}, + _vehicle_land_detected{}, + _ctrl_state{}, + _att_sp{}, + _manual{}, + _control_mode{}, + _arming{}, + _local_pos{}, + _pos_sp_triplet{}, + _local_pos_sp{}, + _global_vel_sp{}, _manual_thr_min(this, "MANTHR_MIN"), _manual_thr_max(this, "MANTHR_MAX"), _vel_x_deriv(this, "VELD"), @@ -398,17 +409,8 @@ MulticopterPositionControl::MulticopterPositionControl() : _takeoff_thrust_sp(0.0f), control_vel_enabled_prev(false) { - memset(&_vehicle_status, 0, sizeof(_vehicle_status)); - memset(&_ctrl_state, 0, sizeof(_ctrl_state)); + // Make the quaternion valid for control state _ctrl_state.q[0] = 1.0f; - memset(&_att_sp, 0, sizeof(_att_sp)); - memset(&_manual, 0, sizeof(_manual)); - memset(&_control_mode, 0, sizeof(_control_mode)); - memset(&_arming, 0, sizeof(_arming)); - memset(&_local_pos, 0, sizeof(_local_pos)); - memset(&_pos_sp_triplet, 0, sizeof(_pos_sp_triplet)); - memset(&_local_pos_sp, 0, sizeof(_local_pos_sp)); - memset(&_global_vel_sp, 0, sizeof(_global_vel_sp)); memset(&_ref_pos, 0, sizeof(_ref_pos));