From 925efe990d0b17e2c976f51e56860e38b9cc2ba6 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Jos=C3=A9=20Roberto=20de=20Souza?= Date: Thu, 27 Jul 2017 17:08:22 -0700 Subject: [PATCH] Initialize all outgoing vehicle_command_ack_s and vehicle_command_s This will initialize those structs with zero in all fields not set and all fields set will only be change once to the final value not wasting CPU time zeroing it. This will guarantee that no non-unitialized structs will have a trash value on from_external causing it to be sent to the MAVLink channel without need it. --- src/drivers/camera_trigger/camera_trigger.cpp | 18 +- src/drivers/px4io/px4io.cpp | 38 ++-- src/drivers/vmount/input_mavlink.cpp | 9 +- src/drivers/vmount/output_mavlink.cpp | 18 +- .../commander/calibration_routines.cpp | 1 - src/modules/commander/commander.cpp | 119 +++++------ src/modules/events/send_event.cpp | 36 ++-- src/modules/logger/logger.cpp | 9 +- src/modules/mavlink/mavlink_main.cpp | 2 +- src/modules/mavlink/mavlink_messages.cpp | 26 +-- src/modules/mavlink/mavlink_receiver.cpp | 185 +++++++----------- src/modules/navigator/mission_block.cpp | 24 ++- src/modules/navigator/navigator_main.cpp | 27 ++- src/modules/sdlog2/sdlog2.c | 4 + src/modules/uavcan/uavcan_servers.cpp | 8 +- .../posix/tests/muorb/muorb_test_example.h | 2 +- .../qurt/tests/muorb/muorb_test_example.h | 2 +- 17 files changed, 267 insertions(+), 261 deletions(-) diff --git a/src/drivers/camera_trigger/camera_trigger.cpp b/src/drivers/camera_trigger/camera_trigger.cpp index 276b3d2564..27a43a293e 100644 --- a/src/drivers/camera_trigger/camera_trigger.cpp +++ b/src/drivers/camera_trigger/camera_trigger.cpp @@ -484,12 +484,11 @@ void CameraTrigger::test() { struct vehicle_command_s cmd = {}; - cmd.timestamp = hrt_absolute_time(); + cmd.timestamp = hrt_absolute_time(), + cmd.param5 = 1.0f; cmd.command = vehicle_command_s::VEHICLE_CMD_DO_DIGICAM_CONTROL; - cmd.param5 = 1.0; - orb_advert_t pub; - pub = orb_advertise_queue(ORB_ID(vehicle_command), &cmd, vehicle_command_s::ORB_QUEUE_LENGTH); + orb_advert_t pub = orb_advertise_queue(ORB_ID(vehicle_command), &cmd, vehicle_command_s::ORB_QUEUE_LENGTH); (void)orb_unadvertise(pub); } @@ -509,7 +508,7 @@ CameraTrigger::cycle_trampoline(void *arg) bool updated = false; orb_check(trig->_command_sub, &updated); - struct vehicle_command_s cmd = {}; + struct vehicle_command_s cmd; unsigned cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED; bool need_ack = false; @@ -716,10 +715,11 @@ CameraTrigger::cycle_trampoline(void *arg) // Command ACK handling if (updated && need_ack) { - vehicle_command_ack_s command_ack = {}; - - command_ack.command = cmd.command; - command_ack.result = cmd_result; + vehicle_command_ack_s command_ack = { + .timestamp = 0, + .command = cmd.command, + .result = (uint8_t)cmd_result + }; if (trig->_cmd_ack_pub == nullptr) { trig->_cmd_ack_pub = orb_advertise_queue(ORB_ID(vehicle_command_ack), &command_ack, diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index 5045085b8a..5d7a8c5d37 100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -792,8 +792,6 @@ PX4IO::init() } while (true); - /* send command to arm system via command API */ - vehicle_command_s cmd; /* send this to itself */ param_t sys_id_param = param_find("MAV_SYS_ID"); param_t comp_id_param = param_find("MAV_COMP_ID"); @@ -809,23 +807,25 @@ PX4IO::init() errx(1, "PRM CMPID"); } - cmd.target_system = sys_id; - cmd.target_component = comp_id; - cmd.source_system = sys_id; - cmd.source_component = comp_id; - /* request arming */ - cmd.param1 = 1.0f; - cmd.param2 = 0; - cmd.param3 = 0; - cmd.param4 = 0; - cmd.param5 = 0; - cmd.param6 = 0; - cmd.param7 = 0; - cmd.timestamp = hrt_absolute_time(); - cmd.command = vehicle_command_s::VEHICLE_CMD_COMPONENT_ARM_DISARM; - - /* ask to confirm command */ - cmd.confirmation = 1; + /* send command to arm system via command API */ + struct vehicle_command_s cmd = { + .timestamp = hrt_absolute_time(), + .param5 = 0.0f, + .param6 = 0.0f, + /* request arming */ + .param1 = 1.0f, + .param2 = 0.0f, + .param3 = 0.0f, + .param4 = 0.0f, + .param7 = 0.0f, + .command = vehicle_command_s::VEHICLE_CMD_COMPONENT_ARM_DISARM, + .target_system = (uint8_t)sys_id, + .target_component = (uint8_t)comp_id, + .source_system = (uint8_t)sys_id, + .source_component = (uint8_t)comp_id, + /* ask to confirm command */ + .confirmation = 1 + }; /* send command once */ orb_advert_t pub = orb_advertise_queue(ORB_ID(vehicle_command), &cmd, vehicle_command_s::ORB_QUEUE_LENGTH); diff --git a/src/drivers/vmount/input_mavlink.cpp b/src/drivers/vmount/input_mavlink.cpp index cbfcc59c64..94333f443e 100644 --- a/src/drivers/vmount/input_mavlink.cpp +++ b/src/drivers/vmount/input_mavlink.cpp @@ -285,10 +285,11 @@ int InputMavlinkCmdMount::update_impl(unsigned int timeout_ms, ControlData **con void InputMavlinkCmdMount::_ack_vehicle_command(uint16_t command) { - vehicle_command_ack_s vehicle_command_ack; - vehicle_command_ack.timestamp = hrt_absolute_time(); - vehicle_command_ack.command = command; - vehicle_command_ack.result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED; + vehicle_command_ack_s vehicle_command_ack = { + .timestamp = hrt_absolute_time(), + .command = command, + .result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED + }; if (_vehicle_command_ack_pub == nullptr) { _vehicle_command_ack_pub = orb_advertise_queue(ORB_ID(vehicle_command_ack), &vehicle_command_ack, diff --git a/src/drivers/vmount/output_mavlink.cpp b/src/drivers/vmount/output_mavlink.cpp index 3baa6dc110..3c30bc3895 100644 --- a/src/drivers/vmount/output_mavlink.cpp +++ b/src/drivers/vmount/output_mavlink.cpp @@ -54,15 +54,25 @@ OutputMavlink::OutputMavlink(const OutputConfig &output_config) int OutputMavlink::update(const ControlData *control_data) { - vehicle_command_s vehicle_command; + vehicle_command_s vehicle_command = { + .timestamp = 0, + .param5 = 0.0f, + .param6 = 0.0f, + .param1 = 0.0f, + .param2 = 0.0f, + .param3 = 0.0f, + .param4 = 0.0f, + .param7 = 0.0f, + .command = 0, + .target_system = (uint8_t)_config.mavlink_sys_id, + .target_component = (uint8_t)_config.mavlink_comp_id, + }; if (control_data) { //got new command _set_angle_setpoints(control_data); vehicle_command.command = vehicle_command_s::VEHICLE_CMD_DO_MOUNT_CONFIGURE; - vehicle_command.target_system = _config.mavlink_sys_id; - vehicle_command.target_component = _config.mavlink_comp_id; vehicle_command.timestamp = hrt_absolute_time(); if (control_data->type == ControlData::Type::Neutral) { @@ -93,8 +103,6 @@ int OutputMavlink::update(const ControlData *control_data) vehicle_command.timestamp = t; vehicle_command.command = vehicle_command_s::VEHICLE_CMD_DO_MOUNT_CONTROL; - vehicle_command.target_system = _config.mavlink_sys_id; - vehicle_command.target_component = _config.mavlink_comp_id; vehicle_command.param1 = _angle_outputs[0]; vehicle_command.param2 = _angle_outputs[1]; diff --git a/src/modules/commander/calibration_routines.cpp b/src/modules/commander/calibration_routines.cpp index 1b7795d21e..abf9fde727 100644 --- a/src/modules/commander/calibration_routines.cpp +++ b/src/modules/commander/calibration_routines.cpp @@ -836,7 +836,6 @@ bool calibrate_cancel_check(orb_advert_t *mavlink_log_pub, int cancel_sub) if (px4_poll(&fds[0], 1, 0) > 0) { struct vehicle_command_s cmd; - memset(&cmd, 0, sizeof(cmd)); orb_copy(ORB_ID(vehicle_command), cancel_sub, &cmd); diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 88cd7d8a4f..0b24522006 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -498,21 +498,20 @@ int commander_main(int argc, char *argv[]) if (TRANSITION_DENIED != arm_disarm(true, &mavlink_log_pub, "command line")) { - vehicle_command_s cmd = {}; - cmd.target_system = status.system_id; - cmd.target_component = status.component_id; - - cmd.command = vehicle_command_s::VEHICLE_CMD_NAV_TAKEOFF; - cmd.param1 = NAN; /* minimum pitch */ - /* param 2-3 unused */ - cmd.param2 = NAN; - cmd.param3 = NAN; - cmd.param4 = NAN; - cmd.param5 = NAN; - cmd.param6 = NAN; - cmd.param7 = NAN; - - cmd.timestamp = hrt_absolute_time(); + struct vehicle_command_s cmd = { + .timestamp = hrt_absolute_time(), + .param5 = NAN, + .param6 = NAN, + /* minimum pitch */ + .param1 = NAN, + .param2 = NAN, + .param3 = NAN, + .param4 = NAN, + .param7 = NAN, + .command = vehicle_command_s::VEHICLE_CMD_NAV_TAKEOFF, + .target_system = (uint8_t)status.system_id, + .target_component = (uint8_t)status.component_id + }; orb_advert_t h = orb_advertise_queue(ORB_ID(vehicle_command), &cmd, vehicle_command_s::ORB_QUEUE_LENGTH); (void)orb_unadvertise(h); @@ -530,18 +529,20 @@ int commander_main(int argc, char *argv[]) if (!strcmp(argv[1], "land")) { - vehicle_command_s cmd = {}; - cmd.target_system = status.system_id; - cmd.target_component = status.component_id; - - cmd.command = vehicle_command_s::VEHICLE_CMD_NAV_LAND; - /* param 2-3 unused */ - cmd.param2 = NAN; - cmd.param3 = NAN; - cmd.param4 = NAN; - cmd.param5 = NAN; - cmd.param6 = NAN; - cmd.param7 = NAN; + struct vehicle_command_s cmd = { + .timestamp = 0, + .param5 = NAN, + .param6 = NAN, + /* minimum pitch */ + .param1 = NAN, + .param2 = NAN, + .param3 = NAN, + .param4 = NAN, + .param7 = NAN, + .command = vehicle_command_s::VEHICLE_CMD_NAV_LAND, + .target_system = (uint8_t)status.system_id, + .target_component = (uint8_t)status.component_id + }; orb_advert_t h = orb_advertise_queue(ORB_ID(vehicle_command), &cmd, vehicle_command_s::ORB_QUEUE_LENGTH); (void)orb_unadvertise(h); @@ -551,20 +552,20 @@ int commander_main(int argc, char *argv[]) if (!strcmp(argv[1], "transition")) { - vehicle_command_s cmd = {}; - cmd.target_system = status.system_id; - cmd.target_component = status.component_id; - - cmd.command = vehicle_command_s::VEHICLE_CMD_DO_VTOL_TRANSITION; - /* transition to the other mode */ - cmd.param1 = (status.is_rotary_wing) ? vtol_vehicle_status_s::VEHICLE_VTOL_STATE_FW : vtol_vehicle_status_s::VEHICLE_VTOL_STATE_MC; - /* param 2-3 unused */ - cmd.param2 = NAN; - cmd.param3 = NAN; - cmd.param4 = NAN; - cmd.param5 = NAN; - cmd.param6 = NAN; - cmd.param7 = NAN; + struct vehicle_command_s cmd = { + .timestamp = 0, + .param5 = NAN, + .param6 = NAN, + /* transition to the other mode */ + .param1 = (float)((status.is_rotary_wing) ? vtol_vehicle_status_s::VEHICLE_VTOL_STATE_FW : vtol_vehicle_status_s::VEHICLE_VTOL_STATE_MC), + .param2 = NAN, + .param3 = NAN, + .param4 = NAN, + .param7 = NAN, + .command = vehicle_command_s::VEHICLE_CMD_DO_VTOL_TRANSITION, + .target_system = (uint8_t)status.system_id, + .target_component = (uint8_t)status.component_id + }; orb_advert_t h = orb_advertise_queue(ORB_ID(vehicle_command), &cmd, vehicle_command_s::ORB_QUEUE_LENGTH); (void)orb_unadvertise(h); @@ -620,13 +621,20 @@ int commander_main(int argc, char *argv[]) return 1; } - vehicle_command_s cmd = {}; - cmd.target_system = status.system_id; - cmd.target_component = status.component_id; - - cmd.command = vehicle_command_s::VEHICLE_CMD_DO_FLIGHTTERMINATION; - /* if the comparison matches for off (== 0) set 0.0f, 2.0f (on) else */ - cmd.param1 = strcmp(argv[2], "off") ? 2.0f : 0.0f; /* lockdown */ + struct vehicle_command_s cmd = { + .timestamp = 0, + .param5 = 0.0f, + .param6 = 0.0f, + /* if the comparison matches for off (== 0) set 0.0f, 2.0f (on) else */ + .param1 = strcmp(argv[2], "off") ? 2.0f : 0.0f, /* lockdown */ + .param2 = 0.0f, + .param3 = 0.0f, + .param4 = 0.0f, + .param7 = 0.0f, + .command = vehicle_command_s::VEHICLE_CMD_DO_FLIGHTTERMINATION, + .target_system = (uint8_t)status.system_id, + .target_component = (uint8_t)status.component_id + }; orb_advert_t h = orb_advertise_queue(ORB_ID(vehicle_command), &cmd, vehicle_command_s::ORB_QUEUE_LENGTH); (void)orb_unadvertise(h); @@ -1650,8 +1658,6 @@ int commander_thread_main(int argc, char *argv[]) /* Subscribe to command topic */ int cmd_sub = orb_subscribe(ORB_ID(vehicle_command)); - struct vehicle_command_s cmd; - memset(&cmd, 0, sizeof(cmd)); /* Subscribe to parameters changed topic */ int param_changed_sub = orb_subscribe(ORB_ID(parameter_update)); @@ -2986,6 +2992,8 @@ int commander_thread_main(int argc, char *argv[]) orb_check(cmd_sub, &updated); if (updated) { + struct vehicle_command_s cmd; + /* got command */ orb_copy(ORB_ID(vehicle_command), cmd_sub, &cmd); @@ -4125,9 +4133,11 @@ void answer_command(struct vehicle_command_s &cmd, unsigned result, } /* publish ACK */ - vehicle_command_ack_s command_ack = {}; - command_ack.command = cmd.command; - command_ack.result = result; + vehicle_command_ack_s command_ack = { + .timestamp = 0, + .command = cmd.command, + .result = (uint8_t)result + }; if (command_ack_pub != nullptr) { orb_publish(ORB_ID(vehicle_command_ack), command_ack_pub, &command_ack); @@ -4144,8 +4154,6 @@ void *commander_low_prio_loop(void *arg) /* Subscribe to command topic */ int cmd_sub = orb_subscribe(ORB_ID(vehicle_command)); - struct vehicle_command_s cmd; - memset(&cmd, 0, sizeof(cmd)); /* command ack */ orb_advert_t command_ack_pub = nullptr; @@ -4166,6 +4174,7 @@ void *commander_low_prio_loop(void *arg) warn("commander: poll error %d, %d", pret, errno); continue; } else if (pret != 0) { + struct vehicle_command_s cmd; /* if we reach here, we have a valid command */ orb_copy(ORB_ID(vehicle_command), cmd_sub, &cmd); diff --git a/src/modules/events/send_event.cpp b/src/modules/events/send_event.cpp index d7908131f2..5c3c2b49fb 100644 --- a/src/modules/events/send_event.cpp +++ b/src/modules/events/send_event.cpp @@ -122,7 +122,6 @@ void SendEvent::cycle() void SendEvent::process_commands() { - struct vehicle_command_s cmd; bool updated; orb_check(_vehicle_command_sub, &updated); @@ -130,6 +129,8 @@ void SendEvent::process_commands() return; } + struct vehicle_command_s cmd; + orb_copy(ORB_ID(vehicle_command), _vehicle_command_sub, &cmd); bool got_temperature_calibration_command = false, accel = false, baro = false, gyro = false; @@ -167,12 +168,12 @@ void SendEvent::process_commands() void SendEvent::answer_command(const vehicle_command_s &cmd, unsigned result) { - struct vehicle_command_ack_s command_ack; - /* publish ACK */ - command_ack.command = cmd.command; - command_ack.result = result; - command_ack.timestamp = hrt_absolute_time(); + struct vehicle_command_ack_s command_ack = { + .timestamp = hrt_absolute_time(), + .command = cmd.command, + .result = (uint8_t)result, + }; if (_command_ack_pub != nullptr) { orb_publish(ORB_ID(vehicle_command_ack), _command_ack_pub, &command_ack); @@ -256,18 +257,17 @@ int SendEvent::custom_command(int argc, char *argv[]) } } - vehicle_command_s cmd = {}; - cmd.target_system = 0; - cmd.target_component = 0; - - cmd.command = vehicle_command_s::VEHICLE_CMD_PREFLIGHT_CALIBRATION; - cmd.param1 = (gyro_calib || calib_all) ? vehicle_command_s::PREFLIGHT_CALIBRATION_TEMPERATURE_CALIBRATION : NAN; - cmd.param2 = NAN; - cmd.param3 = NAN; - cmd.param4 = NAN; - cmd.param5 = (accel_calib || calib_all) ? vehicle_command_s::PREFLIGHT_CALIBRATION_TEMPERATURE_CALIBRATION : NAN; - cmd.param6 = NAN; - cmd.param7 = (baro_calib || calib_all) ? vehicle_command_s::PREFLIGHT_CALIBRATION_TEMPERATURE_CALIBRATION : NAN; + struct vehicle_command_s cmd = { + .timestamp = 0, + .param5 = (float)((accel_calib || calib_all) ? vehicle_command_s::PREFLIGHT_CALIBRATION_TEMPERATURE_CALIBRATION : NAN), + .param6 = NAN, + .param1 = (float)((gyro_calib || calib_all) ? vehicle_command_s::PREFLIGHT_CALIBRATION_TEMPERATURE_CALIBRATION : NAN), + .param2 = NAN, + .param3 = NAN, + .param4 = NAN, + .param7 = (float)((baro_calib || calib_all) ? vehicle_command_s::PREFLIGHT_CALIBRATION_TEMPERATURE_CALIBRATION : NAN), + .command = vehicle_command_s::VEHICLE_CMD_PREFLIGHT_CALIBRATION + }; orb_advert_t h = orb_advertise_queue(ORB_ID(vehicle_command), &cmd, vehicle_command_s::ORB_QUEUE_LENGTH); (void)orb_unadvertise(h); diff --git a/src/modules/logger/logger.cpp b/src/modules/logger/logger.cpp index 839d0d1e8b..4604e373c1 100644 --- a/src/modules/logger/logger.cpp +++ b/src/modules/logger/logger.cpp @@ -2001,10 +2001,11 @@ int Logger::remove_directory(const char *dir) void Logger::ack_vehicle_command(orb_advert_t &vehicle_command_ack_pub, uint16_t command, uint32_t result) { - vehicle_command_ack_s vehicle_command_ack; - vehicle_command_ack.timestamp = hrt_absolute_time(); - vehicle_command_ack.command = command; - vehicle_command_ack.result = result; + vehicle_command_ack_s vehicle_command_ack = { + .timestamp = hrt_absolute_time(), + .command = command, + .result = (uint8_t)result + }; if (vehicle_command_ack_pub == nullptr) { vehicle_command_ack_pub = orb_advertise_queue(ORB_ID(vehicle_command_ack), &vehicle_command_ack, diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp index 2eba718e93..472f8952ee 100644 --- a/src/modules/mavlink/mavlink_main.cpp +++ b/src/modules/mavlink/mavlink_main.cpp @@ -2200,7 +2200,7 @@ Mavlink::task_main(int argc, char *argv[]) /* send command ACK */ uint16_t current_command_ack = 0; - struct vehicle_command_ack_s command_ack = {}; + struct vehicle_command_ack_s command_ack; if (ack_sub->update(&ack_time, &command_ack)) { if (!command_ack.from_external) { diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index d382803c2e..b7d5772a30 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -1410,19 +1410,19 @@ protected: mavlink_msg_camera_trigger_send_struct(_mavlink->get_channel(), &msg); - vehicle_command_s cmd{}; - - cmd.target_system = mavlink_system.sysid; - cmd.target_component = MAV_COMP_ID_CAMERA; - cmd.command = MAV_CMD_IMAGE_START_CAPTURE; - cmd.confirmation = 0; - cmd.param1 = 0; // all cameras - cmd.param2 = 0; // duration 0 because only taking one picture - cmd.param3 = 1; // only take one - cmd.param4 = NAN; - cmd.param5 = NAN; - cmd.param6 = NAN; - cmd.param7 = NAN; + struct vehicle_command_s cmd = { + .timestamp = 0, + .param5 = NAN, + .param6 = NAN, + .param1 = 0.0f, // all cameras + .param2 = 0.0f, // duration 0 because only taking one picture + .param3 = 1.0f, // only take one + .param4 = NAN, + .param7 = NAN, + .command = MAV_CMD_IMAGE_START_CAPTURE, + .target_system = mavlink_system.sysid, + .target_component = MAV_COMP_ID_CAMERA + }; MavlinkCommandSender::instance().handle_vehicle_command(cmd, _mavlink->get_channel()); diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp index fff5d55d7b..4ec488feb5 100644 --- a/src/modules/mavlink/mavlink_receiver.cpp +++ b/src/modules/mavlink/mavlink_receiver.cpp @@ -439,41 +439,25 @@ MavlinkReceiver::handle_message_command_long(mavlink_message_t *msg) _mavlink->request_stop_ulog_streaming(); } - struct vehicle_command_s vcmd; - - memset(&vcmd, 0, sizeof(vcmd)); - - vcmd.timestamp = hrt_absolute_time(); - - /* Copy the content of mavlink_command_long_t cmd_mavlink into command_t cmd */ - vcmd.param1 = cmd_mavlink.param1; - - vcmd.param2 = cmd_mavlink.param2; - - vcmd.param3 = cmd_mavlink.param3; - - vcmd.param4 = cmd_mavlink.param4; - - vcmd.param5 = cmd_mavlink.param5; - - vcmd.param6 = cmd_mavlink.param6; - - vcmd.param7 = cmd_mavlink.param7; - - // XXX do proper translation - vcmd.command = cmd_mavlink.command; - - vcmd.target_system = cmd_mavlink.target_system; - - vcmd.target_component = cmd_mavlink.target_component; - - vcmd.source_system = msg->sysid; - - vcmd.source_component = msg->compid; - - vcmd.confirmation = cmd_mavlink.confirmation; - - vcmd.from_external = 1; + struct vehicle_command_s vcmd = { + .timestamp = hrt_absolute_time(), + .param5 = cmd_mavlink.param5, + .param6 = cmd_mavlink.param6, + /* Copy the content of mavlink_command_long_t cmd_mavlink into command_t cmd */ + .param1 = cmd_mavlink.param1, + .param2 = cmd_mavlink.param2, + .param3 = cmd_mavlink.param3, + .param4 = cmd_mavlink.param4, + .param7 = cmd_mavlink.param7, + // XXX do proper translation + .command = cmd_mavlink.command, + .target_system = cmd_mavlink.target_system, + .target_component = cmd_mavlink.target_component, + .source_system = msg->sysid, + .source_component = msg->compid, + .confirmation = cmd_mavlink.confirmation, + .from_external = 1 + }; if (_cmd_pub == nullptr) { _cmd_pub = orb_advertise_queue(ORB_ID(vehicle_command), &vcmd, vehicle_command_s::ORB_QUEUE_LENGTH); @@ -486,15 +470,11 @@ MavlinkReceiver::handle_message_command_long(mavlink_message_t *msg) out: if (send_ack) { - vehicle_command_ack_s command_ack; - command_ack.command = cmd_mavlink.command; - - if (ret == PX4_OK) { - command_ack.result = vehicle_command_ack_s::VEHICLE_RESULT_ACCEPTED; - - } else { - command_ack.result = vehicle_command_ack_s::VEHICLE_RESULT_FAILED; - } + vehicle_command_ack_s command_ack = { + .timestamp = 0, + .command = cmd_mavlink.command, + .result = (ret == PX4_OK ? vehicle_command_ack_s::VEHICLE_RESULT_ACCEPTED : vehicle_command_ack_s::VEHICLE_RESULT_FAILED) + }; if (_command_ack_pub == nullptr) { _command_ack_pub = orb_advertise_queue(ORB_ID(vehicle_command_ack), &command_ack, @@ -550,40 +530,26 @@ MavlinkReceiver::handle_message_command_int(mavlink_message_t *msg) send_ack = false; - struct vehicle_command_s vcmd; - - memset(&vcmd, 0, sizeof(vcmd)); - - vcmd.timestamp = hrt_absolute_time(); - - /* Copy the content of mavlink_command_int_t cmd_mavlink into command_t cmd */ - vcmd.param1 = cmd_mavlink.param1; - - vcmd.param2 = cmd_mavlink.param2; - - vcmd.param3 = cmd_mavlink.param3; - - vcmd.param4 = cmd_mavlink.param4; - - /* these are coordinates as 1e7 scaled integers to work around the 32 bit floating point limits */ - vcmd.param5 = ((double)cmd_mavlink.x) / 1e7; - - vcmd.param6 = ((double)cmd_mavlink.y) / 1e7; - - vcmd.param7 = cmd_mavlink.z; - - // XXX do proper translation - vcmd.command = cmd_mavlink.command; - - vcmd.target_system = cmd_mavlink.target_system; - - vcmd.target_component = cmd_mavlink.target_component; - - vcmd.source_system = msg->sysid; - - vcmd.source_component = msg->compid; - - vcmd.from_external = 1; + struct vehicle_command_s vcmd = { + .timestamp = hrt_absolute_time(), + /* these are coordinates as 1e7 scaled integers to work around the 32 bit floating point limits */ + .param5 = ((double)cmd_mavlink.x) / 1e7, + .param6 = ((double)cmd_mavlink.y) / 1e7, + /* Copy the content of mavlink_command_int_t cmd_mavlink into command_t cmd */ + .param1 = cmd_mavlink.param1, + .param2 = cmd_mavlink.param2, + .param3 = cmd_mavlink.param3, + .param4 = cmd_mavlink.param4, + .param7 = cmd_mavlink.z, + // XXX do proper translation + .command = cmd_mavlink.command, + .target_system = cmd_mavlink.target_system, + .target_component = cmd_mavlink.target_component, + .source_system = msg->sysid, + .source_component = msg->compid, + .confirmation = 0, + .from_external = 1 + }; if (_cmd_pub == nullptr) { _cmd_pub = orb_advertise_queue(ORB_ID(vehicle_command), &vcmd, vehicle_command_s::ORB_QUEUE_LENGTH); @@ -596,15 +562,11 @@ MavlinkReceiver::handle_message_command_int(mavlink_message_t *msg) out: if (send_ack) { - vehicle_command_ack_s command_ack; - command_ack.command = cmd_mavlink.command; - - if (ret == PX4_OK) { - command_ack.result = vehicle_command_ack_s::VEHICLE_RESULT_ACCEPTED; - - } else { - command_ack.result = vehicle_command_ack_s::VEHICLE_RESULT_FAILED; - } + vehicle_command_ack_s command_ack = { + .timestamp = 0, + .command = cmd_mavlink.command, + .result = (ret == PX4_OK ? vehicle_command_ack_s::VEHICLE_RESULT_ACCEPTED : vehicle_command_ack_s::VEHICLE_RESULT_FAILED) + }; if (_command_ack_pub == nullptr) { _command_ack_pub = orb_advertise_queue(ORB_ID(vehicle_command_ack), &command_ack, @@ -624,11 +586,12 @@ MavlinkReceiver::handle_message_command_ack(mavlink_message_t *msg) MavlinkCommandSender::instance().handle_mavlink_command_ack(ack, msg->sysid, msg->compid); - vehicle_command_ack_s command_ack = {}; - command_ack.command = ack.command; - command_ack.result = ack.result; - command_ack.timestamp = hrt_absolute_time(); - command_ack.from_external = 1; + vehicle_command_ack_s command_ack = { + .timestamp = hrt_absolute_time(), + .command = ack.command, + .result = ack.result, + .from_external = 1 + }; if (_command_ack_pub == nullptr) { _command_ack_pub = orb_advertise_queue(ORB_ID(vehicle_command_ack), &command_ack, @@ -764,27 +727,27 @@ MavlinkReceiver::handle_message_set_mode(mavlink_message_t *msg) mavlink_set_mode_t new_mode; mavlink_msg_set_mode_decode(msg, &new_mode); - struct vehicle_command_s vcmd; - memset(&vcmd, 0, sizeof(vcmd)); - union px4_custom_mode custom_mode; custom_mode.data = new_mode.custom_mode; - /* copy the content of mavlink_command_long_t cmd_mavlink into command_t cmd */ - vcmd.param1 = new_mode.base_mode; - vcmd.param2 = custom_mode.main_mode; - vcmd.param3 = custom_mode.sub_mode; - vcmd.param4 = 0; - vcmd.param5 = 0; - vcmd.param6 = 0; - vcmd.param7 = 0; - vcmd.command = vehicle_command_s::VEHICLE_CMD_DO_SET_MODE; - vcmd.target_system = new_mode.target_system; - vcmd.target_component = MAV_COMP_ID_ALL; - vcmd.source_system = msg->sysid; - vcmd.source_component = msg->compid; - vcmd.confirmation = 1; - vcmd.timestamp = hrt_absolute_time(); - vcmd.from_external = 1; + + struct vehicle_command_s vcmd = { + .timestamp = hrt_absolute_time(), + .param5 = 0, + .param6 = 0, + /* copy the content of mavlink_command_long_t cmd_mavlink into command_t cmd */ + .param1 = (float)new_mode.base_mode, + .param2 = (float)custom_mode.main_mode, + .param3 = (float)custom_mode.sub_mode, + .param4 = 0, + .param7 = 0, + .command = vehicle_command_s::VEHICLE_CMD_DO_SET_MODE, + .target_system = new_mode.target_system, + .target_component = MAV_COMP_ID_ALL, + .source_system = msg->sysid, + .source_component = msg->compid, + .confirmation = 1, + .from_external = 1 + }; if (_cmd_pub == nullptr) { _cmd_pub = orb_advertise_queue(ORB_ID(vehicle_command), &vcmd, vehicle_command_s::ORB_QUEUE_LENGTH); diff --git a/src/modules/navigator/mission_block.cpp b/src/modules/navigator/mission_block.cpp index b60dcf3550..35a7e896c9 100644 --- a/src/modules/navigator/mission_block.cpp +++ b/src/modules/navigator/mission_block.cpp @@ -476,11 +476,14 @@ MissionBlock::issue_command(const struct mission_item_s *item) } } else { - struct vehicle_command_s cmd = {}; - mission_item_to_vehicle_command(item, &cmd); const hrt_abstime now = hrt_absolute_time(); + + struct vehicle_command_s cmd = { + .timestamp = now + }; + + mission_item_to_vehicle_command(item, &cmd); _action_start = now; - cmd.timestamp = now; _navigator->publish_vehicle_cmd(cmd); } @@ -715,10 +718,17 @@ MissionBlock::set_land_item(struct mission_item_s *item, bool at_current_locatio !_navigator->get_vstatus()->is_rotary_wing && _param_force_vtol.get() == 1) { - struct vehicle_command_s cmd = {}; - cmd.command = NAV_CMD_DO_VTOL_TRANSITION; - cmd.param1 = vtol_vehicle_status_s::VEHICLE_VTOL_STATE_MC; - cmd.timestamp = hrt_absolute_time(); + struct vehicle_command_s cmd = { + .timestamp = hrt_absolute_time(), + .param5 = 0.0f, + .param6 = 0.0f, + .param1 = vtol_vehicle_status_s::VEHICLE_VTOL_STATE_MC, + .param2 = 0.0f, + .param3 = 0.0f, + .param4 = 0.0f, + .param7 = 0.0f, + .command = NAV_CMD_DO_VTOL_TRANSITION + }; _navigator->publish_vehicle_cmd(cmd); } diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index cfebbd1c82..cbc27c67ab 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -375,7 +375,7 @@ Navigator::task_main() orb_check(_vehicle_command_sub, &updated); if (updated) { - vehicle_command_s cmd = {}; + vehicle_command_s cmd; orb_copy(ORB_ID(vehicle_command), _vehicle_command_sub, &cmd); if (cmd.command == vehicle_command_s::VEHICLE_CMD_DO_REPOSITION) { @@ -479,15 +479,24 @@ Navigator::task_main() int land_start = _mission.find_offboard_land_start(); if (land_start != -1) { - vehicle_command_s cmd_mission_start = {}; - cmd_mission_start.timestamp = hrt_absolute_time(); - cmd_mission_start.target_system = get_vstatus()->system_id; - cmd_mission_start.target_component = get_vstatus()->component_id; - cmd_mission_start.command = vehicle_command_s::VEHICLE_CMD_MISSION_START; - cmd_mission_start.param1 = land_start; - cmd_mission_start.param2 = 0; + struct vehicle_command_s vcmd = {}; + vcmd.timestamp = hrt_absolute_time(), + vcmd.param1 = (float)land_start, + vcmd.param2 = 0.0f, + vcmd.param3 = 0.0f, + vcmd.param4 = 0.0f, + vcmd.param5 = 0.0, + vcmd.param6 = 0.0, + vcmd.param7 = 0.0f, + vcmd.command = vehicle_command_s::VEHICLE_CMD_MISSION_START; + vcmd.target_system = (uint8_t)get_vstatus()->system_id; + vcmd.target_component = (uint8_t)get_vstatus()->component_id; + vcmd.source_system = (uint8_t)get_vstatus()->system_id; + vcmd.source_component = (uint8_t)get_vstatus()->component_id; + vcmd.confirmation = false; + vcmd.from_external = false; - publish_vehicle_cmd(cmd_mission_start); + publish_vehicle_cmd(vcmd); } else { PX4_WARN("planned landing not available"); diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c index 24d55c1b11..de54e22f7f 100644 --- a/src/modules/sdlog2/sdlog2.c +++ b/src/modules/sdlog2/sdlog2.c @@ -385,6 +385,8 @@ int sdlog2_main(int argc, char *argv[]) if (!strncmp(argv[1], "on", 2)) { struct vehicle_command_s cmd; + + memset(&cmd, 0, sizeof(cmd)); cmd.command = VEHICLE_CMD_PREFLIGHT_STORAGE; cmd.param1 = -1; cmd.param2 = -1; @@ -396,6 +398,8 @@ int sdlog2_main(int argc, char *argv[]) if (!strcmp(argv[1], "off")) { struct vehicle_command_s cmd; + + memset(&cmd, 0, sizeof(cmd)); cmd.command = VEHICLE_CMD_PREFLIGHT_STORAGE; cmd.param1 = -1; cmd.param2 = -1; diff --git a/src/modules/uavcan/uavcan_servers.cpp b/src/modules/uavcan/uavcan_servers.cpp index ef7439f70d..e8f6742861 100644 --- a/src/modules/uavcan/uavcan_servers.cpp +++ b/src/modules/uavcan/uavcan_servers.cpp @@ -534,9 +534,11 @@ pthread_addr_t UavcanServers::run(pthread_addr_t) } // Acknowledge the received command - struct vehicle_command_ack_s ack = {}; - ack.command = cmd.command; - ack.result = cmd_ack_result; + struct vehicle_command_ack_s ack = { + .timestamp = 0, + .command = cmd.command, + .result = cmd_ack_result + }; if (_command_ack_pub == nullptr) { _command_ack_pub = orb_advertise_queue(ORB_ID(vehicle_command_ack), &ack, vehicle_command_ack_s::ORB_QUEUE_LENGTH); diff --git a/src/platforms/posix/tests/muorb/muorb_test_example.h b/src/platforms/posix/tests/muorb/muorb_test_example.h index 4f4dcf02d6..f706cbaf89 100644 --- a/src/platforms/posix/tests/muorb/muorb_test_example.h +++ b/src/platforms/posix/tests/muorb/muorb_test_example.h @@ -57,6 +57,6 @@ private: int DefaultTest(); int PingPongTest(); struct esc_status_s m_esc_status; - struct vehicle_command_s m_vc; + struct vehicle_command_s m_vc = {}; }; diff --git a/src/platforms/qurt/tests/muorb/muorb_test_example.h b/src/platforms/qurt/tests/muorb/muorb_test_example.h index 68236eb854..aea7646bc9 100644 --- a/src/platforms/qurt/tests/muorb/muorb_test_example.h +++ b/src/platforms/qurt/tests/muorb/muorb_test_example.h @@ -54,6 +54,6 @@ private: int uSleepTest(); struct esc_status_s m_esc_status; - struct vehicle_command_s m_vc; + struct vehicle_command_s m_vc = {}; };