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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/modules/navigator/mission_block.cpp
+17 -7
View File
@@ -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);
}
src/modules/navigator/navigator_main.cpp
+18 -9
View File
@@ -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");