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Initialize all outgoing vehicle_command_ack_s and vehicle_command_s

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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.
This commit is contained in:
José Roberto de Souza
2017-08-08 21:46:30 +02:00
committed by Lorenz Meier
parent 7c268f4fa1
commit 925efe990d
17 changed files with 267 additions and 261 deletions
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src/drivers/px4io/px4io.cpp
+19 -19
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@@ -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);