fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-07-07 17:10:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

mavlink: mission minor whitespace fixes and initialization

Browse Source 
- it's safer to zero any struct being send over mavlink to prevent
extension field surpries later
This commit is contained in:
Daniel Agar
2020-06-20 10:56:31 -04:00
parent 80c1f4e5e6
commit e50f92805b
1 changed files with 11 additions and 20 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/mavlink/mavlink_mission.cpp
+11 -20
View File
@@ -150,7 +150,7 @@ int
MavlinkMissionManager::update_active_mission(dm_item_t dataman_id, uint16_t count, int32_t seq)
{
// We want to make sure the whole struct is initialized including padding before getting written by dataman.
mission_s mission {};
mission_s mission{};
mission.timestamp = hrt_absolute_time();
mission.dataman_id = dataman_id;
mission.count = count;
@@ -217,7 +217,6 @@ MavlinkMissionManager::update_geofence_count(unsigned count)
}
return PX4_OK;
}
int
@@ -248,7 +247,7 @@ MavlinkMissionManager::update_safepoint_count(unsigned count)
void
MavlinkMissionManager::send_mission_ack(uint8_t sysid, uint8_t compid, uint8_t type)
{
mavlink_mission_ack_t wpa;
mavlink_mission_ack_t wpa{};
wpa.target_system = sysid;
wpa.target_component = compid;
@@ -266,10 +265,8 @@ MavlinkMissionManager::send_mission_current(int32_t seq)
int32_t item_count = _count[MAV_MISSION_TYPE_MISSION];
if (seq < item_count) {
mavlink_mission_current_t wpc;
mavlink_mission_current_t wpc{};
wpc.seq = seq;
mavlink_msg_mission_current_send_struct(_mavlink->get_channel(), &wpc);
} else if (seq <= 0 && item_count == 0) {
@@ -282,13 +279,12 @@ MavlinkMissionManager::send_mission_current(int32_t seq)
}
}
void
MavlinkMissionManager::send_mission_count(uint8_t sysid, uint8_t compid, uint16_t count, MAV_MISSION_TYPE mission_type)
{
_time_last_sent = hrt_absolute_time();
mavlink_mission_count_t wpc;
mavlink_mission_count_t wpc{};
wpc.target_system = sysid;
wpc.target_component = compid;
@@ -300,11 +296,10 @@ MavlinkMissionManager::send_mission_count(uint8_t sysid, uint8_t compid, uint16_
PX4_DEBUG("WPM: Send MISSION_COUNT %u to ID %u, mission type=%i", wpc.count, wpc.target_system, mission_type);
}
void
MavlinkMissionManager::send_mission_item(uint8_t sysid, uint8_t compid, uint16_t seq)
{
mission_item_s mission_item = {};
mission_item_s mission_item{};
int read_result = 0;
switch (_mission_type) {
@@ -357,7 +352,7 @@ MavlinkMissionManager::send_mission_item(uint8_t sysid, uint8_t compid, uint16_t
_time_last_sent = hrt_absolute_time();
if (_int_mode) {
mavlink_mission_item_int_t wp = {};
mavlink_mission_item_int_t wp{};
format_mavlink_mission_item(&mission_item, reinterpret_cast<mavlink_mission_item_t *>(&wp));
wp.target_system = sysid;
@@ -370,7 +365,7 @@ MavlinkMissionManager::send_mission_item(uint8_t sysid, uint8_t compid, uint16_t
PX4_DEBUG("WPM: Send MISSION_ITEM_INT seq %u to ID %u", wp.seq, wp.target_system);
} else {
mavlink_mission_item_t wp = {};
mavlink_mission_item_t wp{};
format_mavlink_mission_item(&mission_item, &wp);
wp.target_system = sysid;
@@ -423,7 +418,7 @@ MavlinkMissionManager::send_mission_request(uint8_t sysid, uint8_t compid, uint1
_time_last_sent = hrt_absolute_time();
if (_int_mode) {
mavlink_mission_request_int_t wpr;
mavlink_mission_request_int_t wpr{};
wpr.target_system = sysid;
wpr.target_component = compid;
wpr.seq = seq;
@@ -434,7 +429,7 @@ MavlinkMissionManager::send_mission_request(uint8_t sysid, uint8_t compid, uint1
} else {
mavlink_mission_request_t wpr;
mavlink_mission_request_t wpr{};
wpr.target_system = sysid;
wpr.target_component = compid;
wpr.seq = seq;
@@ -452,11 +447,10 @@ MavlinkMissionManager::send_mission_request(uint8_t sysid, uint8_t compid, uint1
}
}
void
MavlinkMissionManager::send_mission_item_reached(uint16_t seq)
{
mavlink_mission_item_reached_t wp_reached;
mavlink_mission_item_reached_t wp_reached{};
wp_reached.seq = seq;
@@ -465,7 +459,6 @@ MavlinkMissionManager::send_mission_item_reached(uint16_t seq)
PX4_DEBUG("WPM: Send MISSION_ITEM_REACHED reached_seq %u", wp_reached.seq);
}
void
MavlinkMissionManager::send(const hrt_abstime now)
{
@@ -591,11 +584,10 @@ MavlinkMissionManager::handle_message(const mavlink_message_t *msg)
}
}
void
MavlinkMissionManager::handle_mission_ack(const mavlink_message_t *msg)
{
mavlink_mission_ack_t wpa;
mavlink_mission_ack_t wpa{};
mavlink_msg_mission_ack_decode(msg, &wpa);
if (CHECK_SYSID_COMPID_MISSION(wpa)) {
@@ -648,7 +640,6 @@ MavlinkMissionManager::handle_mission_ack(const mavlink_message_t *msg)
}
}
void
MavlinkMissionManager::handle_mission_set_current(const mavlink_message_t *msg)
{