From 22e8204de8f72f4aba5acf2773166369b2e8b72c Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Beat=20K=C3=BCng?= <beat-kueng@gmx.net>
Date: Mon, 19 Mar 2018 19:38:24 +0100
Subject: [PATCH] refactor mc_att_control: move class initializer to member
initializer
---
src/modules/mc_att_control/mc_att_control.hpp | 62 +++++++++----------
.../mc_att_control/mc_att_control_main.cpp | 43 +------------
2 files changed, 32 insertions(+), 73 deletions(-)
diff --git a/src/modules/mc_att_control/mc_att_control.hpp b/src/modules/mc_att_control/mc_att_control.hpp
index 850a137124..37aa5301c2 100644
--- a/src/modules/mc_att_control/mc_att_control.hpp
+++ b/src/modules/mc_att_control/mc_att_control.hpp
@@ -87,42 +87,42 @@ public:
private:
- int _v_att_sub; /**< vehicle attitude subscription */
- int _v_att_sp_sub; /**< vehicle attitude setpoint subscription */
- int _v_rates_sp_sub; /**< vehicle rates setpoint subscription */
- int _v_control_mode_sub; /**< vehicle control mode subscription */
- int _params_sub; /**< parameter updates subscription */
- int _manual_control_sp_sub; /**< manual control setpoint subscription */
- int _vehicle_status_sub; /**< vehicle status subscription */
- int _motor_limits_sub; /**< motor limits subscription */
- int _battery_status_sub; /**< battery status subscription */
+ int _v_att_sub{-1}; /**< vehicle attitude subscription */
+ int _v_att_sp_sub{-1}; /**< vehicle attitude setpoint subscription */
+ int _v_rates_sp_sub{-1}; /**< vehicle rates setpoint subscription */
+ int _v_control_mode_sub{-1}; /**< vehicle control mode subscription */
+ int _params_sub{-1}; /**< parameter updates subscription */
+ int _manual_control_sp_sub{-1}; /**< manual control setpoint subscription */
+ int _vehicle_status_sub{-1}; /**< vehicle status subscription */
+ int _motor_limits_sub{-1}; /**< motor limits subscription */
+ int _battery_status_sub{-1}; /**< battery status subscription */
int _sensor_gyro_sub[MAX_GYRO_COUNT]; /**< gyro data subscription */
- int _sensor_correction_sub; /**< sensor thermal correction subscription */
- int _sensor_bias_sub; /**< sensor in-run bias correction subscription */
+ int _sensor_correction_sub{-1}; /**< sensor thermal correction subscription */
+ int _sensor_bias_sub{-1}; /**< sensor in-run bias correction subscription */
- unsigned _gyro_count;
- int _selected_gyro;
+ unsigned _gyro_count{1};
+ int _selected_gyro{0};
- orb_advert_t _v_rates_sp_pub; /**< rate setpoint publication */
- orb_advert_t _actuators_0_pub; /**< attitude actuator controls publication */
- orb_advert_t _controller_status_pub; /**< controller status publication */
+ orb_advert_t _v_rates_sp_pub{nullptr}; /**< rate setpoint publication */
+ orb_advert_t _actuators_0_pub{nullptr}; /**< attitude actuator controls publication */
+ orb_advert_t _controller_status_pub{nullptr}; /**< controller status publication */
- orb_id_t _rates_sp_id; /**< pointer to correct rates setpoint uORB metadata structure */
- orb_id_t _actuators_id; /**< pointer to correct actuator controls0 uORB metadata structure */
+ orb_id_t _rates_sp_id{nullptr}; /**< pointer to correct rates setpoint uORB metadata structure */
+ orb_id_t _actuators_id{nullptr}; /**< pointer to correct actuator controls0 uORB metadata structure */
- bool _actuators_0_circuit_breaker_enabled; /**< circuit breaker to suppress output */
+ bool _actuators_0_circuit_breaker_enabled{false}; /**< circuit breaker to suppress output */
- struct vehicle_attitude_s _v_att; /**< vehicle attitude */
- struct vehicle_attitude_setpoint_s _v_att_sp; /**< vehicle attitude setpoint */
- struct vehicle_rates_setpoint_s _v_rates_sp; /**< vehicle rates setpoint */
- struct manual_control_setpoint_s _manual_control_sp; /**< manual control setpoint */
- struct vehicle_control_mode_s _v_control_mode; /**< vehicle control mode */
- struct actuator_controls_s _actuators; /**< actuator controls */
- struct vehicle_status_s _vehicle_status; /**< vehicle status */
- struct battery_status_s _battery_status; /**< battery status */
- struct sensor_gyro_s _sensor_gyro; /**< gyro data before thermal correctons and ekf bias estimates are applied */
- struct sensor_correction_s _sensor_correction; /**< sensor thermal corrections */
- struct sensor_bias_s _sensor_bias; /**< sensor in-run bias corrections */
+ struct vehicle_attitude_s _v_att {}; /**< vehicle attitude */
+ struct vehicle_attitude_setpoint_s _v_att_sp {}; /**< vehicle attitude setpoint */
+ struct vehicle_rates_setpoint_s _v_rates_sp {}; /**< vehicle rates setpoint */
+ struct manual_control_setpoint_s _manual_control_sp {}; /**< manual control setpoint */
+ struct vehicle_control_mode_s _v_control_mode {}; /**< vehicle control mode */
+ struct actuator_controls_s _actuators {}; /**< actuator controls */
+ struct vehicle_status_s _vehicle_status {}; /**< vehicle status */
+ struct battery_status_s _battery_status {}; /**< battery status */
+ struct sensor_gyro_s _sensor_gyro {}; /**< gyro data before thermal correctons and ekf bias estimates are applied */
+ struct sensor_correction_s _sensor_correction {}; /**< sensor thermal corrections */
+ struct sensor_bias_s _sensor_bias {}; /**< sensor in-run bias corrections */
MultirotorMixer::saturation_status _saturation_status{};
@@ -131,7 +131,7 @@ private:
math::LowPassFilter2p _lp_filters_d[3]; /**< low-pass filters for D-term (roll, pitch & yaw) */
static constexpr const float initial_update_rate_hz = 250.f; /**< loop update rate used for initialization */
- float _loop_update_rate_hz; /**< current rate-controller loop update rate in [Hz] */
+ float _loop_update_rate_hz{initial_update_rate_hz}; /**< current rate-controller loop update rate in [Hz] */
math::Vector<3> _rates_prev; /**< angular rates on previous step */
math::Vector<3> _rates_prev_filtered; /**< angular rates on previous step (low-pass filtered) */
diff --git a/src/modules/mc_att_control/mc_att_control_main.cpp b/src/modules/mc_att_control/mc_att_control_main.cpp
index acb153fbcc..ccf3c1474e 100644
--- a/src/modules/mc_att_control/mc_att_control_main.cpp
+++ b/src/modules/mc_att_control/mc_att_control_main.cpp
@@ -97,54 +97,13 @@ To reduce control latency, the module directly polls on the gyro topic published
}
MulticopterAttitudeControl::MulticopterAttitudeControl() :
-
- /* subscriptions */
- _v_att_sub(-1),
- _v_att_sp_sub(-1),
- _v_control_mode_sub(-1),
- _params_sub(-1),
- _manual_control_sp_sub(-1),
- _vehicle_status_sub(-1),
- _motor_limits_sub(-1),
- _battery_status_sub(-1),
- _sensor_correction_sub(-1),
- _sensor_bias_sub(-1),
-
- /* gyro selection */
- _gyro_count(1),
- _selected_gyro(0),
-
- /* publications */
- _v_rates_sp_pub(nullptr),
- _actuators_0_pub(nullptr),
- _controller_status_pub(nullptr),
- _rates_sp_id(nullptr),
- _actuators_id(nullptr),
-
- _actuators_0_circuit_breaker_enabled(false),
-
- _v_att{},
- _v_att_sp{},
- _v_rates_sp{},
- _manual_control_sp{},
- _v_control_mode{},
- _actuators{},
- _vehicle_status{},
- _battery_status{},
- _sensor_gyro{},
- _sensor_correction{},
- _sensor_bias{},
- _saturation_status{},
- /* performance counters */
_loop_perf(perf_alloc(PC_ELAPSED, "mc_att_control")),
_controller_latency_perf(perf_alloc_once(PC_ELAPSED, "ctrl_latency")),
_lp_filters_d{
{initial_update_rate_hz, 50.f},
{initial_update_rate_hz, 50.f},
- {initial_update_rate_hz, 50.f}}, // will be initialized correctly when params are loaded
-
-_loop_update_rate_hz(initial_update_rate_hz)
+ {initial_update_rate_hz, 50.f}} // will be initialized correctly when params are loaded
{
for (uint8_t i = 0; i < MAX_GYRO_COUNT; i++) {
_sensor_gyro_sub[i] = -1;
--
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