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stop ignoring Wmissing-field-initializers and fix (#9912)

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This commit is contained in:
Daniel Agar
2018-07-22 12:45:52 -04:00
committed by GitHub
parent fc65939f0e
commit b1d3bb0403
21 changed files with 271 additions and 423 deletions
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src/modules/mavlink/mavlink_main.cpp
+7 -10
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@@ -2288,16 +2288,13 @@ Mavlink::task_main(int argc, char *argv[])
}
// send positive command ack
struct vehicle_command_ack_s command_ack = {
.timestamp = vehicle_cmd.timestamp,
.result_param2 = 0,
.command = vehicle_cmd.command,
.result = vehicle_command_ack_s::VEHICLE_RESULT_ACCEPTED,
.from_external = !vehicle_cmd.from_external,
.result_param1 = 0,
.target_system = vehicle_cmd.source_system,
.target_component = vehicle_cmd.source_component
};
vehicle_command_ack_s command_ack = {};
command_ack.timestamp = vehicle_cmd.timestamp;
command_ack.command = vehicle_cmd.command;
command_ack.result = vehicle_command_ack_s::VEHICLE_RESULT_ACCEPTED;
command_ack.from_external = !vehicle_cmd.from_external;
command_ack.target_system = vehicle_cmd.source_system;
command_ack.target_component = vehicle_cmd.source_component;
if (command_ack_pub != nullptr) {
orb_publish(ORB_ID(vehicle_command_ack), command_ack_pub, &command_ack);
src/modules/mavlink/mavlink_messages.cpp
+14 -15
View File
@@ -1551,25 +1551,24 @@ protected:
mavlink_msg_camera_trigger_send_struct(_mavlink->get_channel(), &msg);
struct vehicle_command_s cmd = {
.timestamp = 0,
.param5 = (double)NAN,
.param6 = (double)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
};
vehicle_command_s vcmd = {};
vcmd.timestamp = hrt_absolute_time();
vcmd.param1 = 0.0f; // all cameras
vcmd.param2 = 0.0f; // duration 0 because only taking one picture
vcmd.param3 = 1.0f; // only take one
vcmd.param4 = NAN;
vcmd.param5 = (double)NAN;
vcmd.param6 = (double)NAN;
vcmd.param7 = NAN;
vcmd.command = MAV_CMD_IMAGE_START_CAPTURE;
vcmd.target_system = mavlink_system.sysid;
vcmd.target_component = MAV_COMP_ID_CAMERA;
MavlinkCommandSender::instance().handle_vehicle_command(cmd, _mavlink->get_channel());
MavlinkCommandSender::instance().handle_vehicle_command(vcmd, _mavlink->get_channel());
// TODO: move this camera_trigger and publish as a vehicle_command
/* send MAV_CMD_DO_DIGICAM_CONTROL*/
mavlink_command_long_t digicam_ctrl_cmd;
mavlink_command_long_t digicam_ctrl_cmd = {};
digicam_ctrl_cmd.target_system = 0; // 0 for broadcast
digicam_ctrl_cmd.target_component = MAV_COMP_ID_CAMERA;
src/modules/mavlink/mavlink_receiver.cpp
+67 -76
View File
@@ -174,16 +174,12 @@ MavlinkReceiver::~MavlinkReceiver()
void MavlinkReceiver::acknowledge(uint8_t sysid, uint8_t compid, uint16_t command, uint8_t result)
{
vehicle_command_ack_s command_ack = {
.timestamp = hrt_absolute_time(),
.result_param2 = 0,
.command = command,
.result = result,
.from_external = false,
.result_param1 = 0,
.target_system = sysid,
.target_component = compid
};
vehicle_command_ack_s command_ack = {};
command_ack.timestamp = hrt_absolute_time();
command_ack.command = command;
command_ack.result = result;
command_ack.target_system = sysid;
command_ack.target_component = compid;
if (_command_ack_pub == nullptr) {
_command_ack_pub = orb_advertise_queue(ORB_ID(vehicle_command_ack), &command_ack,
@@ -490,24 +486,25 @@ MavlinkReceiver::handle_message_command_long(mavlink_message_t *msg)
mavlink_command_long_t cmd_mavlink;
mavlink_msg_command_long_decode(msg, &cmd_mavlink);
struct vehicle_command_s vcmd = {
.timestamp = hrt_absolute_time(),
.param5 = (double)cmd_mavlink.param5,
.param6 = (double)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,
.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 = true
};
vehicle_command_s 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 = (double)cmd_mavlink.param5;
vcmd.param6 = (double)cmd_mavlink.param6;
vcmd.param7 = cmd_mavlink.param7;
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 = true;
handle_message_command_both(msg, cmd_mavlink, vcmd);
}
@@ -518,30 +515,28 @@ MavlinkReceiver::handle_message_command_int(mavlink_message_t *msg)
mavlink_command_int_t cmd_mavlink;
mavlink_msg_command_int_decode(msg, &cmd_mavlink);
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,
.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 = false,
.from_external = true
};
vehicle_command_s 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;
vcmd.param5 = ((double)cmd_mavlink.x) / 1e7;
vcmd.param6 = ((double)cmd_mavlink.y) / 1e7;
vcmd.param7 = cmd_mavlink.z;
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 = false;
vcmd.from_external = true;
handle_message_command_both(msg, cmd_mavlink, vcmd);
}
template <class T>
void MavlinkReceiver::handle_message_command_both(mavlink_message_t *msg, const T &cmd_mavlink,
const vehicle_command_s &vehicle_command)
@@ -636,16 +631,15 @@ 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 = {
.timestamp = hrt_absolute_time(),
.result_param2 = ack.result_param2,
.command = ack.command,
.result = ack.result,
.from_external = true,
.result_param1 = ack.progress,
.target_system = ack.target_system,
.target_component = ack.target_component
};
vehicle_command_ack_s command_ack = {};
command_ack.timestamp = hrt_absolute_time();
command_ack.result_param2 = ack.result_param2;
command_ack.command = ack.command;
command_ack.result = ack.result;
command_ack.from_external = true;
command_ack.result_param1 = ack.progress;
command_ack.target_system = ack.target_system;
command_ack.target_component = ack.target_component;
if (_command_ack_pub == nullptr) {
_command_ack_pub = orb_advertise_queue(ORB_ID(vehicle_command_ack), &command_ack,
@@ -785,24 +779,21 @@ MavlinkReceiver::handle_message_set_mode(mavlink_message_t *msg)
union px4_custom_mode custom_mode;
custom_mode.data = new_mode.custom_mode;
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 = true
};
vehicle_command_s vcmd = {};
vcmd.timestamp = hrt_absolute_time();
/* copy the content of mavlink_command_long_t cmd_mavlink into command_t cmd */
vcmd.param1 = (float)new_mode.base_mode;
vcmd.param2 = (float)custom_mode.main_mode;
vcmd.param3 = (float)custom_mode.sub_mode;
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 = true;
vcmd.from_external = true;
if (_cmd_pub == nullptr) {
_cmd_pub = orb_advertise_queue(ORB_ID(vehicle_command), &vcmd, vehicle_command_s::ORB_QUEUE_LENGTH);