diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp
index c6eb4a9d3101ebb2e198177c961c736e517a24a6..19a3a40cac3f80abeaa64c86806106b845303058 100644
--- a/src/modules/mavlink/mavlink_main.cpp
+++ b/src/modules/mavlink/mavlink_main.cpp
@@ -162,16 +162,11 @@ bool Mavlink::_boot_complete = false;
Mavlink::Mavlink() :
ModuleParams(nullptr),
- _device_name("/dev/ttyS1"),
_task_should_exit(false),
- next(nullptr),
_instance_id(0),
_transmitting_enabled(true),
_transmitting_enabled_commanded(false),
_mavlink_log_pub(nullptr),
- _task_running(false),
- _mavlink_buffer{},
- _mavlink_status{},
_hil_enabled(false),
_generate_rc(false),
_is_usb_uart(false),
@@ -221,10 +216,6 @@ Mavlink::Mavlink() :
_protocol(SERIAL),
_network_port(14556),
_remote_port(DEFAULT_REMOTE_PORT_UDP),
- _message_buffer {},
- _message_buffer_mutex {},
- _send_mutex {},
-
/* performance counters */
_loop_perf(perf_alloc(PC_ELAPSED, "mavlink_el")),
_loop_interval_perf(perf_alloc(PC_INTERVAL, "mavlink_int"))
@@ -316,7 +307,8 @@ Mavlink::~Mavlink()
}
}
-void Mavlink::mavlink_update_parameters()
+void
+Mavlink::mavlink_update_parameters()
{
updateParams();
@@ -352,7 +344,7 @@ Mavlink::set_proto_version(unsigned version)
int
Mavlink::instance_count()
{
- unsigned inst_index = 0;
+ size_t inst_index = 0;
Mavlink *inst;
LL_FOREACH(::_mavlink_instances, inst) {
@@ -549,7 +541,8 @@ Mavlink::get_uart_fd(unsigned index)
return -1;
}
-int Mavlink::mavlink_open_uart(int baud, const char *uart_name, bool force_flow_control)
+int
+Mavlink::mavlink_open_uart(int baud, const char *uart_name, bool force_flow_control)
{
#ifndef B460800
#define B460800 460800
@@ -1219,7 +1212,8 @@ Mavlink::send_statustext_emergency(const char *string)
mavlink_log_emergency(&_mavlink_log_pub, "%s", string);
}
-void Mavlink::send_autopilot_capabilites()
+void
+Mavlink::send_autopilot_capabilites()
{
struct vehicle_status_s status;
@@ -1282,7 +1276,8 @@ void Mavlink::send_autopilot_capabilites()
}
}
-void Mavlink::send_protocol_version()
+void
+Mavlink::send_protocol_version()
{
mavlink_protocol_version_t msg = {};
@@ -1303,7 +1298,8 @@ void Mavlink::send_protocol_version()
set_proto_version(curr_proto_ver);
}
-MavlinkOrbSubscription *Mavlink::add_orb_subscription(const orb_id_t topic, int instance, bool disable_sharing)
+MavlinkOrbSubscription *
+Mavlink::add_orb_subscription(const orb_id_t topic, int instance, bool disable_sharing)
{
if (!disable_sharing) {
/* check if already subscribed to this topic */
diff --git a/src/modules/mavlink/mavlink_main.h b/src/modules/mavlink/mavlink_main.h
index 294b9fe364c318f555a6dd3c1ed64727b3d70d1e..4a43cbf8b494ec71c3aa640291b151d073da67f1 100644
--- a/src/modules/mavlink/mavlink_main.h
+++ b/src/modules/mavlink/mavlink_main.h
@@ -112,7 +112,7 @@ public:
/**
* Start the mavlink task.
*
- * @return OK on success.
+ * @return OK on success.
*/
static int start(int argc, char *argv[]);
@@ -166,18 +166,18 @@ public:
/**
* Get the MAVLink system id.
*
- * @return The system ID of this vehicle
+ * @return The system ID of this vehicle
*/
int get_system_id() const { return mavlink_system.sysid; }
/**
* Get the MAVLink component id.
*
- * @return The component ID of this vehicle
+ * @return The component ID of this vehicle
*/
int get_component_id() const { return mavlink_system.compid; }
- const char *_device_name;
+ const char *_device_name{DEFAULT_DEVICE_NAME};
enum MAVLINK_MODE {
MAVLINK_MODE_NORMAL = 0,
@@ -454,9 +454,9 @@ public:
int get_socket_fd() { return _socket_fd; };
#ifdef __PX4_POSIX
- const in_addr query_netmask_addr(const int socket_fd, const ifreq &ifreq);
+ const in_addr query_netmask_addr(const int socket_fd, const ifreq &ifreq);
- const in_addr compute_broadcast_addr(const in_addr &host_addr, const in_addr &netmask_addr);
+ const in_addr compute_broadcast_addr(const in_addr &host_addr, const in_addr &netmask_addr);
#endif
#if defined(CONFIG_NET) || defined(__PX4_POSIX)
@@ -524,7 +524,7 @@ public:
struct ping_statistics_s &get_ping_statistics() { return _ping_stats; }
protected:
- Mavlink *next;
+ Mavlink *next{nullptr};
private:
int _instance_id;
@@ -535,14 +535,15 @@ private:
orb_advert_t _mavlink_log_pub{nullptr};
orb_advert_t _telem_status_pub{nullptr};
- bool _task_running;
+ bool _task_running{false};
static bool _boot_complete;
- static constexpr int MAVLINK_MAX_INSTANCES = 4;
- static constexpr int MAVLINK_MIN_INTERVAL = 1500;
- static constexpr int MAVLINK_MAX_INTERVAL = 10000;
- static constexpr float MAVLINK_MIN_MULTIPLIER = 0.0005f;
- mavlink_message_t _mavlink_buffer;
- mavlink_status_t _mavlink_status;
+ static constexpr int MAVLINK_MAX_INSTANCES{4};
+ static constexpr int MAVLINK_MIN_INTERVAL{1500};
+ static constexpr int MAVLINK_MAX_INTERVAL{10000};
+ static constexpr float MAVLINK_MIN_MULTIPLIER{0.0005f};
+
+ mavlink_message_t _mavlink_buffer {};
+ mavlink_status_t _mavlink_status {};
/* states */
bool _hil_enabled; /**< Hardware In the Loop mode */
@@ -564,7 +565,7 @@ private:
mavlink_channel_t _channel;
- ringbuffer::RingBuffer _logbuffer;
+ ringbuffer::RingBuffer _logbuffer;
pthread_t _receive_thread;
@@ -590,9 +591,9 @@ private:
bool mavlink_link_termination_allowed;
- char *_subscribe_to_stream;
+ char *_subscribe_to_stream;
float _subscribe_to_stream_rate; ///< rate of stream to subscribe to (0=disable, -1=unlimited, -2=default)
- bool _udp_initialised;
+ bool _udp_initialised;
enum FLOW_CONTROL_MODE _flow_control_mode;
uint64_t _last_write_success_time;
@@ -607,23 +608,23 @@ private:
uint64_t _bytes_timestamp;
#if defined(CONFIG_NET) || defined(__PX4_POSIX)
- struct sockaddr_in _myaddr;
- struct sockaddr_in _src_addr;
- struct sockaddr_in _bcast_addr;
- bool _src_addr_initialized;
- bool _broadcast_address_found;
- bool _broadcast_address_not_found_warned;
- bool _broadcast_failed_warned;
- uint8_t _network_buf[MAVLINK_MAX_PACKET_LEN];
- unsigned _network_buf_len;
+ struct sockaddr_in _myaddr;
+ struct sockaddr_in _src_addr;
+ struct sockaddr_in _bcast_addr;
+ bool _src_addr_initialized;
+ bool _broadcast_address_found;
+ bool _broadcast_address_not_found_warned;
+ bool _broadcast_failed_warned;
+ uint8_t _network_buf[MAVLINK_MAX_PACKET_LEN];
+ unsigned _network_buf_len;
#endif
- const char *_interface_name;
+ const char *_interface_name;
- int _socket_fd;
- Protocol _protocol;
- unsigned short _network_port;
- unsigned short _remote_port;
+ int _socket_fd;
+ Protocol _protocol;
+ unsigned short _network_port;
+ unsigned short _remote_port;
radio_status_s _rstatus{};
telemetry_status_s _tstatus{};
@@ -637,10 +638,10 @@ private:
char *data;
};
- mavlink_message_buffer _message_buffer;
+ mavlink_message_buffer _message_buffer {};
- pthread_mutex_t _message_buffer_mutex;
- pthread_mutex_t _send_mutex;
+ pthread_mutex_t _message_buffer_mutex {};
+ pthread_mutex_t _send_mutex {};
DEFINE_PARAMETERS(
(ParamInt<px4::params::MAV_SYS_ID>) _param_system_id,
@@ -721,7 +722,7 @@ private:
*/
int task_main(int argc, char *argv[]);
- /* do not allow copying this class */
- Mavlink(const Mavlink &);
- Mavlink operator=(const Mavlink &);
+ // Disallow copy construction and move assignment.
+ Mavlink(const Mavlink &) = delete;
+ Mavlink operator=(const Mavlink &) = delete;
};