mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-16 10:43:33 +08:00
Mavlink receiver: Move most variable initializations out of the constructor to the variable declarations
This commit is contained in:
Mark Sauder
@@ -89,58 +89,6 @@ MavlinkReceiver::MavlinkReceiver(Mavlink *parent) :
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_mavlink_ftp(parent),
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_mavlink_log_handler(parent),
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_mavlink_timesync(parent),
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_status{},
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_hil_local_pos{},
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_hil_land_detector{},
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_control_mode{},
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_global_pos_pub(nullptr),
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_local_pos_pub(nullptr),
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_attitude_pub(nullptr),
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_gps_pub(nullptr),
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_gyro_pub(nullptr),
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_accel_pub(nullptr),
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_mag_pub(nullptr),
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_baro_pub(nullptr),
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_airspeed_pub(nullptr),
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_battery_pub(nullptr),
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_cmd_pub(nullptr),
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_flow_pub(nullptr),
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_hil_distance_sensor_pub(nullptr),
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_flow_distance_sensor_pub(nullptr),
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_distance_sensor_pub(nullptr),
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_offboard_control_mode_pub(nullptr),
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_actuator_controls_pubs{nullptr, nullptr, nullptr, nullptr},
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_att_sp_pub(nullptr),
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_rates_sp_pub(nullptr),
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_pos_sp_triplet_pub(nullptr),
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_mocap_odometry_pub(nullptr),
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_visual_odometry_pub(nullptr),
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_radio_status_pub(nullptr),
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_ping_pub(nullptr),
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_rc_pub(nullptr),
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_manual_pub(nullptr),
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_obstacle_distance_pub(nullptr),
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_trajectory_waypoint_pub(nullptr),
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_land_detector_pub(nullptr),
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_follow_target_pub(nullptr),
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_landing_target_pose_pub(nullptr),
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_transponder_report_pub(nullptr),
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_collision_report_pub(nullptr),
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_debug_key_value_pub(nullptr),
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_debug_value_pub(nullptr),
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_debug_vect_pub(nullptr),
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_debug_array_pub(nullptr),
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_gps_inject_data_pub(nullptr),
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_command_ack_pub(nullptr),
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_hil_frames(0),
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_old_timestamp(0),
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_hil_local_proj_inited(0),
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_hil_local_alt0(0.0f),
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_hil_local_proj_ref{},
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_offboard_control_mode{},
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_orb_class_instance(-1),
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_mom_switch_pos{},
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_mom_switch_state(0),
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_p_bat_emergen_thr(param_find("BAT_EMERGEN_THR")),
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_p_bat_crit_thr(param_find("BAT_CRIT_THR")),
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_p_bat_low_thr(param_find("BAT_LOW_THR")),
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@@ -131,39 +131,39 @@ private:
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void handle_message_adsb_vehicle(mavlink_message_t *msg);
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void handle_message_att_pos_mocap(mavlink_message_t *msg);
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void handle_message_battery_status(mavlink_message_t *msg);
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void handle_message_collision(mavlink_message_t *msg);
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void handle_message_command_ack(mavlink_message_t *msg);
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void handle_message_optical_flow_rad(mavlink_message_t *msg);
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void handle_message_hil_optical_flow(mavlink_message_t *msg);
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void handle_message_set_mode(mavlink_message_t *msg);
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void handle_message_vision_position_estimate(mavlink_message_t *msg);
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void handle_message_gps_global_origin(mavlink_message_t *msg);
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void handle_message_set_position_target_local_ned(mavlink_message_t *msg);
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void handle_message_set_actuator_control_target(mavlink_message_t *msg);
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void handle_message_set_attitude_target(mavlink_message_t *msg);
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void handle_message_radio_status(mavlink_message_t *msg);
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void handle_message_manual_control(mavlink_message_t *msg);
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void handle_message_rc_channels_override(mavlink_message_t *msg);
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void handle_message_heartbeat(mavlink_message_t *msg);
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void handle_message_ping(mavlink_message_t *msg);
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void handle_message_hil_sensor(mavlink_message_t *msg);
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void handle_message_hil_gps(mavlink_message_t *msg);
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void handle_message_hil_state_quaternion(mavlink_message_t *msg);
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void handle_message_debug(mavlink_message_t *msg);
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void handle_message_debug_float_array(mavlink_message_t *msg);
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void handle_message_debug_vect(mavlink_message_t *msg);
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void handle_message_distance_sensor(mavlink_message_t *msg);
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void handle_message_follow_target(mavlink_message_t *msg);
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void handle_message_landing_target(mavlink_message_t *msg);
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void handle_message_collision(mavlink_message_t *msg);
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void handle_message_gps_global_origin(mavlink_message_t *msg);
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void handle_message_gps_rtcm_data(mavlink_message_t *msg);
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void handle_message_battery_status(mavlink_message_t *msg);
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void handle_message_serial_control(mavlink_message_t *msg);
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void handle_message_heartbeat(mavlink_message_t *msg);
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void handle_message_hil_gps(mavlink_message_t *msg);
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void handle_message_hil_optical_flow(mavlink_message_t *msg);
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void handle_message_hil_sensor(mavlink_message_t *msg);
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void handle_message_hil_state_quaternion(mavlink_message_t *msg);
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void handle_message_landing_target(mavlink_message_t *msg);
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void handle_message_logging_ack(mavlink_message_t *msg);
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void handle_message_play_tune(mavlink_message_t *msg);
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void handle_message_obstacle_distance(mavlink_message_t *msg);
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void handle_message_trajectory_representation_waypoints(mavlink_message_t *msg);
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void handle_message_odometry(mavlink_message_t *msg);
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void handle_message_manual_control(mavlink_message_t *msg);
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void handle_message_named_value_float(mavlink_message_t *msg);
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void handle_message_debug(mavlink_message_t *msg);
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void handle_message_debug_vect(mavlink_message_t *msg);
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void handle_message_debug_float_array(mavlink_message_t *msg);
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void handle_message_obstacle_distance(mavlink_message_t *msg);
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void handle_message_odometry(mavlink_message_t *msg);
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void handle_message_optical_flow_rad(mavlink_message_t *msg);
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void handle_message_ping(mavlink_message_t *msg);
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void handle_message_play_tune(mavlink_message_t *msg);
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void handle_message_radio_status(mavlink_message_t *msg);
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void handle_message_rc_channels_override(mavlink_message_t *msg);
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void handle_message_serial_control(mavlink_message_t *msg);
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void handle_message_set_actuator_control_target(mavlink_message_t *msg);
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void handle_message_set_attitude_target(mavlink_message_t *msg);
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void handle_message_set_mode(mavlink_message_t *msg);
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void handle_message_set_position_target_local_ned(mavlink_message_t *msg);
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void handle_message_trajectory_representation_waypoints(mavlink_message_t *msg);
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void handle_message_vision_position_estimate(mavlink_message_t *msg);
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void *receive_thread(void *arg);
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@@ -204,84 +204,84 @@ private:
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MavlinkLogHandler _mavlink_log_handler;
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MavlinkTimesync _mavlink_timesync;
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mavlink_status_t _status; ///< receiver status, used for mavlink_parse_char()
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mavlink_status_t _status{}; ///< receiver status, used for mavlink_parse_char()
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struct vehicle_attitude_s _att;
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struct vehicle_local_position_s _hil_local_pos;
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struct vehicle_land_detected_s _hil_land_detector;
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struct vehicle_control_mode_s _control_mode;
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map_projection_reference_s _hil_local_proj_ref {};
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offboard_control_mode_s _offboard_control_mode{};
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orb_advert_t _global_pos_pub;
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orb_advert_t _local_pos_pub;
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orb_advert_t _attitude_pub;
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orb_advert_t _gps_pub;
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orb_advert_t _gyro_pub;
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orb_advert_t _accel_pub;
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orb_advert_t _mag_pub;
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orb_advert_t _baro_pub;
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orb_advert_t _airspeed_pub;
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orb_advert_t _battery_pub;
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orb_advert_t _cmd_pub;
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orb_advert_t _flow_pub;
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orb_advert_t _hil_distance_sensor_pub;
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orb_advert_t _flow_distance_sensor_pub;
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orb_advert_t _distance_sensor_pub;
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orb_advert_t _offboard_control_mode_pub;
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orb_advert_t _actuator_controls_pubs[4];
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orb_advert_t _att_sp_pub;
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orb_advert_t _rates_sp_pub;
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orb_advert_t _pos_sp_triplet_pub;
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orb_advert_t _mocap_odometry_pub;
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orb_advert_t _visual_odometry_pub;
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orb_advert_t _radio_status_pub;
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orb_advert_t _ping_pub;
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orb_advert_t _rc_pub;
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orb_advert_t _manual_pub;
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orb_advert_t _obstacle_distance_pub;
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orb_advert_t _trajectory_waypoint_pub;
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orb_advert_t _land_detector_pub;
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orb_advert_t _follow_target_pub;
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orb_advert_t _landing_target_pose_pub;
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orb_advert_t _transponder_report_pub;
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orb_advert_t _collision_report_pub;
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orb_advert_t _debug_key_value_pub;
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orb_advert_t _debug_value_pub;
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orb_advert_t _debug_vect_pub;
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orb_advert_t _debug_array_pub;
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orb_advert_t _gps_inject_data_pub;
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orb_advert_t _command_ack_pub;
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vehicle_attitude_s _att {};
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vehicle_local_position_s _hil_local_pos {};
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vehicle_land_detected_s _hil_land_detector {};
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vehicle_control_mode_s _control_mode {};
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static const int _gps_inject_data_queue_size = 6;
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orb_advert_t _accel_pub{nullptr};
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orb_advert_t _actuator_controls_pubs[4] {nullptr, nullptr, nullptr, nullptr};
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orb_advert_t _airspeed_pub{nullptr};
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orb_advert_t _att_sp_pub{nullptr};
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orb_advert_t _attitude_pub{nullptr};
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orb_advert_t _baro_pub{nullptr};
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orb_advert_t _battery_pub{nullptr};
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orb_advert_t _cmd_pub{nullptr};
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orb_advert_t _collision_report_pub{nullptr};
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orb_advert_t _command_ack_pub{nullptr};
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orb_advert_t _debug_array_pub{nullptr};
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orb_advert_t _debug_key_value_pub{nullptr};
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orb_advert_t _debug_value_pub{nullptr};
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orb_advert_t _debug_vect_pub{nullptr};
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orb_advert_t _distance_sensor_pub{nullptr};
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orb_advert_t _flow_distance_sensor_pub{nullptr};
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orb_advert_t _flow_pub{nullptr};
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orb_advert_t _follow_target_pub{nullptr};
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orb_advert_t _global_pos_pub{nullptr};
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orb_advert_t _gps_inject_data_pub{nullptr};
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orb_advert_t _gps_pub{nullptr};
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orb_advert_t _gyro_pub{nullptr};
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orb_advert_t _hil_distance_sensor_pub{nullptr};
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orb_advert_t _land_detector_pub{nullptr};
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orb_advert_t _landing_target_pose_pub{nullptr};
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orb_advert_t _local_pos_pub{nullptr};
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orb_advert_t _mag_pub{nullptr};
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orb_advert_t _manual_pub{nullptr};
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orb_advert_t _mocap_odometry_pub{nullptr};
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orb_advert_t _obstacle_distance_pub{nullptr};
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orb_advert_t _offboard_control_mode_pub{nullptr};
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orb_advert_t _ping_pub{nullptr};
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orb_advert_t _pos_sp_triplet_pub{nullptr};
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orb_advert_t _radio_status_pub{nullptr};
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orb_advert_t _rates_sp_pub{nullptr};
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orb_advert_t _rc_pub{nullptr};
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orb_advert_t _trajectory_waypoint_pub{nullptr};
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orb_advert_t _transponder_report_pub{nullptr};
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orb_advert_t _visual_odometry_pub{nullptr};
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static constexpr int _gps_inject_data_queue_size{6};
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int _actuator_armed_sub{orb_subscribe(ORB_ID(actuator_armed))};
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int _control_mode_sub{orb_subscribe(ORB_ID(vehicle_control_mode))};
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int _vehicle_attitude_sub{orb_subscribe(ORB_ID(vehicle_attitude))};
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int _hil_frames;
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int _hil_frames{0};
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int _orb_class_instance{-1};
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uint64_t _global_ref_timestamp{0};
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uint64_t _old_timestamp;
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uint64_t _old_timestamp{0};
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bool _hil_local_proj_inited;
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float _hil_local_alt0;
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bool _hil_local_proj_inited{false};
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struct map_projection_reference_s _hil_local_proj_ref;
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struct offboard_control_mode_s _offboard_control_mode;
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float _hil_local_alt0{0.0f};
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int _orb_class_instance;
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static constexpr unsigned MOM_SWITCH_COUNT{8};
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static constexpr unsigned MOM_SWITCH_COUNT = 8;
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uint8_t _mom_switch_pos[MOM_SWITCH_COUNT] {};
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uint16_t _mom_switch_state{0};
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uint8_t _mom_switch_pos[MOM_SWITCH_COUNT];
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uint16_t _mom_switch_state;
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param_t _p_bat_emergen_thr;
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param_t _p_bat_crit_thr;
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param_t _p_bat_low_thr;
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param_t _p_flow_rot;
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param_t _p_flow_maxr;
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param_t _p_flow_minhgt;
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param_t _p_flow_maxhgt;
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param_t _p_bat_emergen_thr{PARAM_INVALID};
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param_t _p_bat_crit_thr{PARAM_INVALID};
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param_t _p_bat_low_thr{PARAM_INVALID};
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param_t _p_flow_rot{PARAM_INVALID};
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param_t _p_flow_maxr{PARAM_INVALID};
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param_t _p_flow_minhgt{PARAM_INVALID};
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param_t _p_flow_maxhgt{PARAM_INVALID};
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MavlinkReceiver(const MavlinkReceiver &) = delete;
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MavlinkReceiver operator=(const MavlinkReceiver &) = delete;
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