From ef54bff4ed45755b4762ef58db21fa37d612d44e Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Beat=20K=C3=BCng?= <beat-kueng@gmx.net>
Date: Thu, 17 Jan 2019 08:07:06 +0100
Subject: [PATCH] vmount: avoid reading uninitialized value
matrix::Quatf() calls sinf(), which caused a valgrind warning
---
src/modules/vmount/output.cpp | 4 ++--
1 file changed, 2 insertions(+), 2 deletions(-)
diff --git a/src/modules/vmount/output.cpp b/src/modules/vmount/output.cpp
index 2e07d81632..d9d01bb372 100644
--- a/src/modules/vmount/output.cpp
+++ b/src/modules/vmount/output.cpp
@@ -207,13 +207,13 @@ void OutputBase::_calculate_output_angles(const hrt_abstime &t)
//get the output angles and stabilize if necessary
vehicle_attitude_s vehicle_attitude;
+ matrix::Eulerf euler;
if (_stabilize[0] || _stabilize[1] || _stabilize[2]) {
orb_copy(ORB_ID(vehicle_attitude), _vehicle_attitude_sub, &vehicle_attitude);
+ euler = matrix::Quatf(vehicle_attitude.q);
}
- matrix::Eulerf euler = matrix::Quatf(vehicle_attitude.q);
-
for (int i = 0; i < 3; ++i) {
if (_stabilize[i]) {
_angle_outputs[i] = _angle_setpoints[i] - euler(i);
--
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