From 0ef5d892a1332a43bb501bf3fb2038d815771f3c Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Sat, 24 Mar 2018 12:43:59 -0400
Subject: [PATCH] navigator precland initialize all fields
- fixes coverity CID 264259
---
src/modules/navigator/precland.cpp | 17 ++-------------
src/modules/navigator/precland.h | 34 +++++++++++++++---------------
2 files changed, 19 insertions(+), 32 deletions(-)
diff --git a/src/modules/navigator/precland.cpp b/src/modules/navigator/precland.cpp
index 8811da6d34..b318df490d 100644
--- a/src/modules/navigator/precland.cpp
+++ b/src/modules/navigator/precland.cpp
@@ -61,18 +61,7 @@
PrecLand::PrecLand(Navigator *navigator) :
MissionBlock(navigator),
- ModuleParams(navigator),
- _targetPoseSub(0),
- _target_pose_valid(false),
- _state_start_time(0),
- _search_cnt(0),
- _approach_alt(0)
-
-{
-}
-
-void
-PrecLand::on_inactive()
+ ModuleParams(navigator)
{
}
@@ -127,7 +116,7 @@ PrecLand::on_active()
_target_pose_valid = true;
}
- if (hrt_absolute_time() - _target_pose.timestamp > (uint64_t)(_param_timeout.get()*SEC2USEC)) {
+ if ((hrt_elapsed_time(&_target_pose.timestamp) / 1e-6f) > _param_timeout.get()) {
_target_pose_valid = false;
}
@@ -278,7 +267,6 @@ PrecLand::run_state_horizontal_approach()
pos_sp_triplet->current.type = position_setpoint_s::SETPOINT_TYPE_POSITION;
_navigator->set_position_setpoint_triplet_updated();
-
}
void
@@ -316,7 +304,6 @@ PrecLand::run_state_descend_above_target()
pos_sp_triplet->current.type = position_setpoint_s::SETPOINT_TYPE_LAND;
_navigator->set_position_setpoint_triplet_updated();
-
}
void
diff --git a/src/modules/navigator/precland.h b/src/modules/navigator/precland.h
index 819c7126ce..0d9177e5d3 100644
--- a/src/modules/navigator/precland.h
+++ b/src/modules/navigator/precland.h
@@ -67,14 +67,10 @@ class PrecLand : public MissionBlock, public ModuleParams
{
public:
PrecLand(Navigator *navigator);
+ ~PrecLand() override = default;
- ~PrecLand() = default;
-
- virtual void on_inactive();
-
- virtual void on_activation();
-
- virtual void on_active();
+ void on_activation() override;
+ void on_active() override;
void set_mode(PrecLandMode mode) { _mode = mode; };
@@ -103,22 +99,26 @@ private:
void slewrate(float &sp_x, float &sp_y);
landing_target_pose_s _target_pose{}; /**< precision landing target position */
- int _targetPoseSub;
- bool _target_pose_valid; /**< wether we have received a landing target position message */
+
+ int _targetPoseSub{-1};
+ bool _target_pose_valid{false}; /**< wether we have received a landing target position message */
+
struct map_projection_reference_s _map_ref {}; /**< reference for local/global projections */
- uint64_t _state_start_time; /**< time when we entered current state */
- uint64_t _last_slewrate_time; /**< time when we last limited setpoint changes */
- uint64_t _target_acquired_time; /**< time when we first saw the landing target during search */
- uint64_t _point_reached_time; /**< time when we reached a setpoint */
- int _search_cnt; /**< counter of how many times we had to search for the landing target */
- float _approach_alt; /**< altitude at which to stay during horizontal approach */
+
+ uint64_t _state_start_time{0}; /**< time when we entered current state */
+ uint64_t _last_slewrate_time{0}; /**< time when we last limited setpoint changes */
+ uint64_t _target_acquired_time{0}; /**< time when we first saw the landing target during search */
+ uint64_t _point_reached_time{0}; /**< time when we reached a setpoint */
+
+ int _search_cnt{0}; /**< counter of how many times we had to search for the landing target */
+ float _approach_alt{0.0f}; /**< altitude at which to stay during horizontal approach */
matrix::Vector2f _sp_pev;
matrix::Vector2f _sp_pev_prev;
- PrecLandState _state;
+ PrecLandState _state{PrecLandState::Start};
- PrecLandMode _mode;
+ PrecLandMode _mode{PrecLandMode::Opportunistic};
DEFINE_PARAMETERS(
(ParamFloat<px4::params::PLD_BTOUT>) _param_timeout,
--
GitLab