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mc_att_control_main: remove unnecessary memset for _sensor_correction

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Beat Küng
2017-02-01 08:40:23 +01:00
committed by Lorenz Meier
parent c00c638b77
commit f890c82c97
1 changed files with 2 additions and 2 deletions
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src/modules/mc_att_control/mc_att_control_main.cpp
+2 -2
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@@ -536,8 +536,7 @@ MulticopterAttitudeControl::MulticopterAttitudeControl() :
_ts_opt_recovery = new TailsitterRecovery(); _ts_opt_recovery = new TailsitterRecovery();
} }
/* initialize thermal corrections as we might not immediately get a topic update */ /* initialize thermal corrections as we might not immediately get a topic update (only non-zero values) */
memset(&_sensor_correction, 0, sizeof(_sensor_correction));
for (unsigned i = 0; i < 3; i++) { for (unsigned i = 0; i < 3; i++) {
// used scale factors to unity // used scale factors to unity
_sensor_correction.gyro_scale_0[i] = 1.0f; _sensor_correction.gyro_scale_0[i] = 1.0f;
@@ -1007,6 +1006,7 @@ MulticopterAttitudeControl::control_attitude_rates(float dt)
rates(0) = (_sensor_gyro.x - _sensor_correction.gyro_offset_2[0]) * _sensor_correction.gyro_scale_2[0]; rates(0) = (_sensor_gyro.x - _sensor_correction.gyro_offset_2[0]) * _sensor_correction.gyro_scale_2[0];
rates(1) = (_sensor_gyro.x - _sensor_correction.gyro_offset_2[1]) * _sensor_correction.gyro_scale_2[1]; rates(1) = (_sensor_gyro.x - _sensor_correction.gyro_offset_2[1]) * _sensor_correction.gyro_scale_2[1];
rates(2) = (_sensor_gyro.x - _sensor_correction.gyro_offset_2[2]) * _sensor_correction.gyro_scale_2[2]; rates(2) = (_sensor_gyro.x - _sensor_correction.gyro_offset_2[2]) * _sensor_correction.gyro_scale_2[2];
} else { } else {
rates(0) = _sensor_gyro.x; rates(0) = _sensor_gyro.x;
rates(1) = _sensor_gyro.y; rates(1) = _sensor_gyro.y;