Plane: To nullptr from NULL.

ArduPlane/ArduPlane.cpp

@@ -236,7 +236,7 @@ void Plane::update_compass(void)
             DataFlash.Log_Write_Compass(compass);
         }
     } else {
-        ahrs.set_compass(NULL);
+        ahrs.set_compass(nullptr);
     }
 }
 

ArduPlane/GCS_Mavlink.cpp

@@ -976,7 +976,7 @@ GCS_MAVLINK_Plane::data_stream_send(void)
         handle_log_send(plane.DataFlash);
     }
 
-    if (_queued_parameter != NULL) {
+    if (_queued_parameter != nullptr) {
         if (streamRates[STREAM_PARAMS].get() <= 0) {
             streamRates[STREAM_PARAMS].set(10);
         }
@@ -2373,9 +2373,9 @@ void Plane::gcs_update(void)
     for (uint8_t i=0; i<num_gcs; i++) {
         if (gcs[i].initialised) {
 #if CLI_ENABLED == ENABLED
-            gcs[i].update(g.cli_enabled == 1 ? FUNCTOR_BIND_MEMBER(&Plane::run_cli, void, AP_HAL::UARTDriver *):NULL);
+            gcs[i].update(g.cli_enabled == 1 ? FUNCTOR_BIND_MEMBER(&Plane::run_cli, void, AP_HAL::UARTDriver *):nullptr);
 #else
-            gcs[i].update(NULL);
+            gcs[i].update(nullptr);
 #endif
         }
     }

ArduPlane/geofence.cpp

@@ -80,7 +80,7 @@ void Plane::set_fence_point_with_index(Vector2l &point, unsigned i)
     fence_storage.write_uint32(i * sizeof(Vector2l), point.x);
     fence_storage.write_uint32(i * sizeof(Vector2l)+4, point.y);
 
-    if (geofence_state != NULL) {
+    if (geofence_state != nullptr) {
         geofence_state->boundary_uptodate = false;
     }
 }
@@ -92,22 +92,22 @@ void Plane::geofence_load(void)
 {
     uint8_t i;
 
-    if (geofence_state == NULL) {
+    if (geofence_state == nullptr) {
         uint16_t boundary_size = sizeof(Vector2l) * max_fencepoints();
         if (hal.util->available_memory() < 100 + boundary_size + sizeof(struct GeofenceState)) {
             // too risky to enable as we could run out of stack
             goto failed;
         }
         geofence_state = (struct GeofenceState *)calloc(1, sizeof(struct GeofenceState));
-        if (geofence_state == NULL) {
+        if (geofence_state == nullptr) {
             // not much we can do here except disable it
             goto failed;
         }
 
         geofence_state->boundary = (Vector2l *)calloc(1, boundary_size);
-        if (geofence_state->boundary == NULL) {
+        if (geofence_state->boundary == nullptr) {
             free(geofence_state);
-            geofence_state = NULL;
+            geofence_state = nullptr;
             goto failed;
         }
         
@@ -170,13 +170,13 @@ void Plane::geofence_update_pwm_enabled_state()
     } else {
         is_pwm_enabled = (hal.rcin->read(g.fence_channel-1) > FENCE_ENABLE_PWM);
     }
-    if (is_pwm_enabled && geofence_state == NULL) {
+    if (is_pwm_enabled && geofence_state == nullptr) {
         // we need to load the fence
         geofence_load();
         return;
     }
 
-    if (geofence_state == NULL) {
+    if (geofence_state == nullptr) {
         // not loaded
         return;
     }
@@ -192,10 +192,10 @@ void Plane::geofence_update_pwm_enabled_state()
 //return true on success, false on failure
 bool Plane::geofence_set_enabled(bool enable, GeofenceEnableReason r) 
 {
-    if (geofence_state == NULL && enable) {
+    if (geofence_state == nullptr && enable) {
         geofence_load();
     }
-    if (geofence_state == NULL) {
+    if (geofence_state == nullptr) {
         return false;
     }
 
@@ -216,7 +216,7 @@ bool Plane::geofence_enabled(void)
 {
     geofence_update_pwm_enabled_state();
 
-    if (geofence_state == NULL) {
+    if (geofence_state == nullptr) {
         return false;
     }
 
@@ -237,7 +237,7 @@ bool Plane::geofence_enabled(void)
  * Return false on failure to set floor state.
  */
 bool Plane::geofence_set_floor_enabled(bool floor_enable) {
-    if (geofence_state == NULL) {
+    if (geofence_state == nullptr) {
         return false;
     }
     
@@ -282,7 +282,7 @@ void Plane::geofence_check(bool altitude_check_only)
     if (!geofence_enabled()) {
         // switch back to the chosen control mode if still in
         // GUIDED to the return point
-        if (geofence_state != NULL &&
+        if (geofence_state != nullptr &&
             (g.fence_action == FENCE_ACTION_GUIDED || g.fence_action == FENCE_ACTION_GUIDED_THR_PASS || g.fence_action == FENCE_ACTION_RTL) &&
             (control_mode == GUIDED || control_mode == AVOID_ADSB) &&
             geofence_present() &&
@@ -297,7 +297,7 @@ void Plane::geofence_check(bool altitude_check_only)
     }
 
     /* allocate the geo-fence state if need be */
-    if (geofence_state == NULL || !geofence_state->boundary_uptodate) {
+    if (geofence_state == nullptr || !geofence_state->boundary_uptodate) {
         geofence_load();
         if (!geofence_enabled()) {
             // may have been disabled by load
@@ -429,7 +429,7 @@ void Plane::geofence_check(bool altitude_check_only)
  */
 bool Plane::geofence_stickmixing(void) {
     if (geofence_enabled() &&
-        geofence_state != NULL &&
+        geofence_state != nullptr &&
         geofence_state->fence_triggered &&
         (control_mode == GUIDED || control_mode == AVOID_ADSB)) {
         // don't mix in user input
@@ -444,7 +444,7 @@ bool Plane::geofence_stickmixing(void) {
  */
 void Plane::geofence_send_status(mavlink_channel_t chan)
 {
-    if (geofence_enabled() && geofence_state != NULL) {
+    if (geofence_enabled() && geofence_state != nullptr) {
         mavlink_msg_fence_status_send(chan,
                                       (int8_t)geofence_state->fence_triggered,
                                       geofence_state->breach_count,

ArduPlane/px4_mixer.cpp

@@ -231,7 +231,7 @@ bool Plane::setup_failsafe_mixing(void)
 {
     const char *mixer_filename = "/fs/microsd/APM/MIXER.MIX";
     bool ret = false;
-    char *buf = NULL;
+    char *buf = nullptr;
     const uint16_t buf_size = 2048;
     uint16_t fileSize, new_crc;
     int px4io_fd = -1;
@@ -240,7 +240,7 @@ bool Plane::setup_failsafe_mixing(void)
     unsigned mixer_status = 0;
 
     buf = (char *)malloc(buf_size);
-    if (buf == NULL) {
+    if (buf == nullptr) {
         goto failed;
     }
 
@@ -295,7 +295,7 @@ bool Plane::setup_failsafe_mixing(void)
     // a RC config limitation in px4io.c limiting to PX4IO_RC_MAPPED_CONTROL_CHANNELS
     for (uint8_t i=0; i<8; i++) {
         RC_Channel *ch = RC_Channel::rc_channel(i);
-        if (ch == NULL) {
+        if (ch == nullptr) {
             continue;
         }
         struct pwm_output_rc_config config;
@@ -398,7 +398,7 @@ bool Plane::setup_failsafe_mixing(void)
     ret = true;
 
 failed:
-    if (buf != NULL) {
+    if (buf != nullptr) {
         free(buf);
     }
     if (px4io_fd != -1) {

ArduPlane/servos.cpp

@@ -535,7 +535,7 @@ void Plane::set_servos_flaps(void)
 
     // work out any manual flap input
     RC_Channel *flapin = RC_Channel::rc_channel(g.flapin_channel-1);
-    if (flapin != NULL && !failsafe.ch3_failsafe && failsafe.ch3_counter == 0) {
+    if (flapin != nullptr && !failsafe.ch3_failsafe && failsafe.ch3_counter == 0) {
         flapin->input();
         manual_flap_percent = flapin->percent_input();
     }

ArduPlane/system.cpp

@@ -46,10 +46,10 @@ int8_t Plane::reboot_board(uint8_t argc, const Menu::arg *argv)
 void Plane::run_cli(AP_HAL::UARTDriver *port)
 {
     // disable the failsafe code in the CLI
-    hal.scheduler->register_timer_failsafe(NULL,1);
+    hal.scheduler->register_timer_failsafe(nullptr,1);
 
     // disable the mavlink delay callback
-    hal.scheduler->register_delay_callback(NULL, 5);
+    hal.scheduler->register_delay_callback(nullptr, 5);
 
     cliSerial = port;
     Menu::set_port(port);
@@ -227,10 +227,10 @@ void Plane::init_ardupilot()
     if (g.cli_enabled == 1) {
         const char *msg = "\nPress ENTER 3 times to start interactive setup\n";
         cliSerial->println(msg);
-        if (gcs[1].initialised && (gcs[1].get_uart() != NULL)) {
+        if (gcs[1].initialised && (gcs[1].get_uart() != nullptr)) {
             gcs[1].get_uart()->println(msg);
         }
-        if (num_gcs > 2 && gcs[2].initialised && (gcs[2].get_uart() != NULL)) {
+        if (num_gcs > 2 && gcs[2].initialised && (gcs[2].get_uart() != nullptr)) {
             gcs[2].get_uart()->println(msg);
         }
     }

ArduPlane/tuning.cpp

@@ -85,7 +85,7 @@ const AP_Tuning_Plane::tuning_name AP_Tuning_Plane::tuning_names[] = {
 };
 
 /*
-  get a pointer to an AP_Float for a parameter, or NULL on fail
+  get a pointer to an AP_Float for a parameter, or nullptr on fail
  */
 AP_Float *AP_Tuning_Plane::get_param_pointer(uint8_t parm)
 {