From 76e20150e9585995b76dac45fadd0f6003619994 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Fri, 12 Apr 2013 14:30:35 +1000
Subject: [PATCH] AP_InertialSensor: ensure parent class is initialised in
 instance classes

---
 libraries/AP_InertialSensor/AP_InertialSensor.cpp         | 5 ++++-
 libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp | 2 +-
 libraries/AP_InertialSensor/AP_InertialSensor_Oilpan.cpp  | 3 ++-
 libraries/AP_InertialSensor/AP_InertialSensor_PX4.h       | 2 +-
 libraries/AP_InertialSensor/AP_InertialSensor_Stub.cpp    | 4 ++--
 5 files changed, 10 insertions(+), 6 deletions(-)

diff --git a/libraries/AP_InertialSensor/AP_InertialSensor.cpp b/libraries/AP_InertialSensor/AP_InertialSensor.cpp
index 74de8ed0c4..39147bb8a2 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor.cpp
@@ -92,7 +92,10 @@ const AP_Param::GroupInfo AP_InertialSensor::var_info[] PROGMEM = {
     AP_GROUPEND
 };
 
-AP_InertialSensor::AP_InertialSensor() {
+AP_InertialSensor::AP_InertialSensor() :
+    _accel(),
+    _gyro()
+{
     AP_Param::setup_object_defaults(this, var_info);        
 }
 
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp
index 09669b830c..0e3411c091 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp
@@ -215,7 +215,7 @@ AP_HAL::Semaphore* AP_InertialSensor_MPU6000::_spi_sem = NULL;
  *  variants however
  */
 
-AP_InertialSensor_MPU6000::AP_InertialSensor_MPU6000()
+AP_InertialSensor_MPU6000::AP_InertialSensor_MPU6000() : AP_InertialSensor()
 {
     _temp = 0;
     _initialised = false;
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_Oilpan.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_Oilpan.cpp
index 1749ec1257..12cf9f5209 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_Oilpan.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_Oilpan.cpp
@@ -38,7 +38,8 @@ const float AP_InertialSensor_Oilpan::_gyro_gain_z = ToRad(0.41f);
 
 /* ------ Public functions -------------------------------------------*/
 
-AP_InertialSensor_Oilpan::AP_InertialSensor_Oilpan( AP_ADC * adc ) :
+AP_InertialSensor_Oilpan::AP_InertialSensor_Oilpan( AP_ADC * adc ) : 
+    AP_InertialSensor(),
     _adc(adc)
 {
 }
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_PX4.h b/libraries/AP_InertialSensor/AP_InertialSensor_PX4.h
index 5570fcc610..26d2078c60 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_PX4.h
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_PX4.h
@@ -17,7 +17,7 @@ class AP_InertialSensor_PX4 : public AP_InertialSensor
 {
 public:
 
-    AP_InertialSensor_PX4() {}
+    AP_InertialSensor_PX4() : AP_InertialSensor() {}
 
     /* Concrete implementation of AP_InertialSensor functions: */
     bool            update();
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_Stub.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_Stub.cpp
index 1c6d3e6dca..488036a2fd 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_Stub.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_Stub.cpp
@@ -4,11 +4,11 @@
 #include <AP_HAL.h>
 const extern AP_HAL::HAL& hal;
 
-AP_InertialSensor_Stub::AP_InertialSensor_Stub() {
+AP_InertialSensor_Stub::AP_InertialSensor_Stub() : AP_InertialSensor() {
         Vector3f accels;
         accels.z = -GRAVITY_MSS;
         set_accel(accels);
-    }
+}
 
 uint16_t AP_InertialSensor_Stub::_init_sensor( Sample_rate sample_rate ) {
     switch (sample_rate) {