From c95394f57f0a771ed28d1941daf6b52ee3a70b5b Mon Sep 17 00:00:00 2001
From: Julian Oes <julian@oes.ch>
Date: Wed, 24 Apr 2019 11:01:30 +0200
Subject: [PATCH] navigator: fix uninitalized param values
By declaring the params above the navigator modes inheriting from
mission block we make sure the params in navigator are set before
read in the constructor of mission block.
---
src/modules/navigator/navigator.h | 42 +++++++++++++++----------------
1 file changed, 21 insertions(+), 21 deletions(-)
diff --git a/src/modules/navigator/navigator.h b/src/modules/navigator/navigator.h
index 1e7afae7c6..c62148d990 100644
--- a/src/modules/navigator/navigator.h
+++ b/src/modules/navigator/navigator.h
@@ -291,6 +291,27 @@ public:
bool force_vtol();
private:
+ DEFINE_PARAMETERS(
+ (ParamFloat<px4::params::NAV_LOITER_RAD>) _param_nav_loiter_rad, /**< loiter radius for fixedwing */
+ (ParamFloat<px4::params::NAV_ACC_RAD>) _param_nav_acc_rad, /**< acceptance for takeoff */
+ (ParamFloat<px4::params::NAV_FW_ALT_RAD>)
+ _param_nav_fw_alt_rad, /**< acceptance radius for fixedwing altitude */
+ (ParamFloat<px4::params::NAV_FW_ALTL_RAD>)
+ _param_nav_fw_altl_rad, /**< acceptance radius for fixedwing altitude before landing*/
+ (ParamFloat<px4::params::NAV_MC_ALT_RAD>)
+ _param_nav_mc_alt_rad, /**< acceptance radius for multicopter altitude */
+ (ParamInt<px4::params::NAV_FORCE_VT>) _param_nav_force_vt, /**< acceptance radius for multicopter altitude */
+ (ParamInt<px4::params::NAV_TRAFF_AVOID>) _param_nav_traff_avoid, /**< avoiding other aircraft is enabled */
+
+ // non-navigator parameters
+ // Mission (MIS_*)
+ (ParamFloat<px4::params::MIS_LTRMIN_ALT>) _param_mis_ltrmin_alt,
+ (ParamFloat<px4::params::MIS_TAKEOFF_ALT>) _param_mis_takeoff_alt,
+ (ParamBool<px4::params::MIS_TAKEOFF_REQ>) _param_mis_takeoff_req,
+ (ParamFloat<px4::params::MIS_YAW_TMT>) _param_mis_yaw_tmt,
+ (ParamFloat<px4::params::MIS_YAW_ERR>) _param_mis_yaw_err
+ )
+
int _global_pos_sub{-1}; /**< global position subscription */
int _gps_pos_sub{-1}; /**< gps position subscription */
int _home_pos_sub{-1}; /**< home position subscription */
@@ -356,27 +377,6 @@ private:
NavigatorMode *_navigation_mode_array[NAVIGATOR_MODE_ARRAY_SIZE]; /**< array of navigation modes */
- DEFINE_PARAMETERS(
- (ParamFloat<px4::params::NAV_LOITER_RAD>) _param_nav_loiter_rad, /**< loiter radius for fixedwing */
- (ParamFloat<px4::params::NAV_ACC_RAD>) _param_nav_acc_rad, /**< acceptance for takeoff */
- (ParamFloat<px4::params::NAV_FW_ALT_RAD>)
- _param_nav_fw_alt_rad, /**< acceptance radius for fixedwing altitude */
- (ParamFloat<px4::params::NAV_FW_ALTL_RAD>)
- _param_nav_fw_altl_rad, /**< acceptance radius for fixedwing altitude before landing*/
- (ParamFloat<px4::params::NAV_MC_ALT_RAD>)
- _param_nav_mc_alt_rad, /**< acceptance radius for multicopter altitude */
- (ParamInt<px4::params::NAV_FORCE_VT>) _param_nav_force_vt, /**< acceptance radius for multicopter altitude */
- (ParamInt<px4::params::NAV_TRAFF_AVOID>) _param_nav_traff_avoid, /**< avoiding other aircraft is enabled */
-
- // non-navigator parameters
- // Mission (MIS_*)
- (ParamFloat<px4::params::MIS_LTRMIN_ALT>) _param_mis_ltrmin_alt,
- (ParamFloat<px4::params::MIS_TAKEOFF_ALT>) _param_mis_takeoff_alt,
- (ParamBool<px4::params::MIS_TAKEOFF_REQ>) _param_mis_takeoff_req,
- (ParamFloat<px4::params::MIS_YAW_TMT>) _param_mis_yaw_tmt,
- (ParamFloat<px4::params::MIS_YAW_ERR>) _param_mis_yaw_err
- )
-
param_t _handle_back_trans_dec_mss{PARAM_INVALID};
param_t _handle_reverse_delay{PARAM_INVALID};
float _param_back_trans_dec_mss{0.f};
--
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