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MC att ctrl: Properly initialize members

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This commit is contained in:
Lorenz Meier
2016-12-13 08:07:15 +01:00
committed by Lorenz Meier
parent c9b7b6bbb5
commit b2d48f65bf
1 changed files with 13 additions and 10 deletions
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src/modules/mc_att_control/mc_att_control_main.cpp
+13 -10
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@@ -377,22 +377,25 @@ MulticopterAttitudeControl::MulticopterAttitudeControl() :
_actuators_0_circuit_breaker_enabled(false),
_ctrl_state{},
_v_att_sp{},
_v_rates_sp{},
_manual_control_sp{},
_v_control_mode{},
_actuators{},
_armed{},
_vehicle_status{},
_motor_limits{},
_controller_status{},
_battery_status{},
_saturation_status{},
/* performance counters */
_loop_perf(perf_alloc(PC_ELAPSED, "mc_att_control")),
_controller_latency_perf(perf_alloc_once(PC_ELAPSED, "ctrl_latency")),
_ts_opt_recovery(nullptr)
{
memset(&_ctrl_state, 0, sizeof(_ctrl_state));
memset(&_v_att_sp, 0, sizeof(_v_att_sp));
memset(&_v_rates_sp, 0, sizeof(_v_rates_sp));
memset(&_manual_control_sp, 0, sizeof(_manual_control_sp));
memset(&_v_control_mode, 0, sizeof(_v_control_mode));
memset(&_actuators, 0, sizeof(_actuators));
memset(&_armed, 0, sizeof(_armed));
memset(&_vehicle_status, 0, sizeof(_vehicle_status));
memset(&_motor_limits, 0, sizeof(_motor_limits));
memset(&_controller_status, 0, sizeof(_controller_status));
_vehicle_status.is_rotary_wing = true;
_params.att_p.zero();