SITL: remove zero initialisations, move more into class definitions

libraries/SITL/SIM_Aircraft.cpp

@@ -41,25 +41,7 @@ using namespace SITL;
  */
 
 Aircraft::Aircraft(const char *frame_str) :
-    ground_level(0.0f),
-    frame_height(0.0f),
-    dcm(),
-    gyro(),
-    velocity_ef(),
-    mass(0.0f),
-    accel_body(0.0f, 0.0f, -GRAVITY_MSS),
-    time_now_us(0),
-    gyro_noise(radians(0.1f)),
-    accel_noise(0.3f),
-    rate_hz(1200.0f),
-    autotest_dir(nullptr),
-    frame(frame_str),
-    num_motors(1),
-#if defined(__CYGWIN__) || defined(__CYGWIN64__)
-    min_sleep_time(20000)
-#else
-    min_sleep_time(5000)
-#endif
+    frame(frame_str)
 {
     // make the SIM_* variables available to simulator backends
     sitl = AP::sitl();
@@ -67,7 +49,6 @@ Aircraft::Aircraft(const char *frame_str) :
     set_speedup(1.0f);
 
     last_wall_time_us = get_wall_time_us();
-    frame_counter = 0;
 
     // allow for orientation settings, such as with tailsitters
     enum ap_var_type ptype;

libraries/SITL/SIM_Aircraft.h

@@ -164,15 +164,15 @@ protected:
     Vector3f velocity_air_bf;            // velocity relative to airmass, body frame
     Vector3f position;                   // meters, NED from origin
     float mass;                          // kg
-    float external_payload_mass = 0.0f;  // kg
-    Vector3f accel_body;                 // m/s/s NED, body frame
+    float external_payload_mass;         // kg
+    Vector3f accel_body{0.0f, 0.0f, -GRAVITY_MSS}; // m/s/s NED, body frame
     float airspeed;                      // m/s, apparent airspeed
     float airspeed_pitot;                // m/s, apparent airspeed, as seen by fwd pitot tube
     float battery_voltage = -1.0f;
-    float battery_current = 0.0f;
+    float battery_current;
     uint8_t num_motors = 1;
     float rpm[12];
-    uint8_t rcin_chan_count = 0;
+    uint8_t rcin_chan_count;
     float rcin[12];
     float range = -1.0f;                 // externally supplied rangefinder value, assumed to have been corrected for vehicle attitude
 
@@ -192,17 +192,17 @@ protected:
     } wind_vane_apparent;
 
     // Wind Turbulence simulated Data
-    float turbulence_azimuth = 0.0f;
-    float turbulence_horizontal_speed = 0.0f;  // m/s
-    float turbulence_vertical_speed = 0.0f;    // m/s
+    float turbulence_azimuth;
+    float turbulence_horizontal_speed;  // m/s
+    float turbulence_vertical_speed;    // m/s
 
     Vector3f mag_bf;  // local earth magnetic field vector in Gauss, earth frame
 
     uint64_t time_now_us;
 
-    const float gyro_noise;
-    const float accel_noise;
-    float rate_hz;
+    const float gyro_noise = radians(0.1f);
+    const float accel_noise = 0.3f;
+    float rate_hz = 1200.0f;
     float target_speedup;
     uint64_t frame_time_us;
     uint64_t last_wall_time_us;
@@ -289,10 +289,14 @@ protected:
     float get_local_updraft(Vector3f currentPos);
 
 private:
-    uint64_t last_time_us = 0;
-    uint32_t frame_counter = 0;
+    uint64_t last_time_us;
+    uint32_t frame_counter;
     uint32_t last_ground_contact_ms;
-    const uint32_t min_sleep_time;
+#if defined(__CYGWIN__) || defined(__CYGWIN64__)
+    const uint32_t min_sleep_time{20000};
+#else
+    const uint32_t min_sleep_time{5000};
+#endif
 
     struct {
         Vector3f accel_body;

libraries/SITL/SIM_Multicopter.cpp

@@ -24,8 +24,7 @@
 using namespace SITL;
 
 MultiCopter::MultiCopter(const char *frame_str) :
-    Aircraft(frame_str),
-    frame(nullptr)
+    Aircraft(frame_str)
 {
     mass = 1.5f;
 

libraries/SITL/SIM_Rover.cpp

@@ -24,13 +24,7 @@
 namespace SITL {
 
 SimRover::SimRover(const char *frame_str) :
-    Aircraft(frame_str),
-    max_speed(20),
-    max_accel(10),
-    max_wheel_turn(35),
-    turning_circle(1.8),
-    skid_turn_rate(140), // degrees/sec
-    skid_steering(false)
+    Aircraft(frame_str)
 {
     skid_steering = strstr(frame_str, "skid") != nullptr;
 

libraries/SITL/SIM_Rover.h

@@ -38,11 +38,11 @@ public:
     }
 
 private:
-    float max_speed;
-    float max_accel;
-    float max_wheel_turn;
-    float turning_circle;
-    float skid_turn_rate;
+    float max_speed = 20.0f;
+    float max_accel = 10.0f;
+    float max_wheel_turn = 35.0f;
+    float turning_circle = 1.8f;
+    float skid_turn_rate = 140.0f;
     bool skid_steering;
 
     float turn_circle(float steering);

libraries/SITL/SIM_Tracker.cpp

@@ -22,11 +22,6 @@
 
 namespace SITL {
 
-Tracker::Tracker(const char *frame_str) :
-Aircraft(frame_str)
-{}
-
-
 /*
   update function for position (normal) servos.
 */

libraries/SITL/SIM_Tracker.h

@@ -27,7 +27,8 @@ namespace SITL {
  */
 class Tracker : public Aircraft {
 public:
-    Tracker(const char *frame_str);
+    using Aircraft::Aircraft;
+
     void update(const struct sitl_input &input) override;
 
     /* static object creator */
@@ -44,7 +45,7 @@ private:
     const float yaw_range = 170;
     const float zero_yaw = 270;  // yaw direction at startup
     const float zero_pitch = 10; // pitch at startup
-    uint64_t last_debug_us = 0;
+    uint64_t last_debug_us;
 
     float pitch_input;
     float yaw_input;