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AP_InertialSensor: remove pointless initialisations

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AP_InertialSensor: avoid pointless zeroing in constructor

AP_InertialSensor is either in bss or is created via new (which zeroes
memory)
This commit is contained in:
Peter Barker 2018-02-22 17:46:28 +11:00 committed by Francisco Ferreira
parent 355752ebb8
commit aca87ab638
1 changed files with 1 additions and 37 deletions
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38
libraries/AP_InertialSensor/AP_InertialSensor.cpp
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@ -455,58 +455,22 @@ const AP_Param::GroupInfo AP_InertialSensor::var_info[] = {
AP_InertialSensor *AP_InertialSensor::_s_instance = nullptr;
AP_InertialSensor::AP_InertialSensor() :
_gyro_count(0),
_accel_count(0),
_backend_count(0),
_accel(),
_gyro(),
_board_orientation(ROTATION_NONE),
_primary_gyro(0),
_primary_accel(0),
_log_raw_bit(-1),
_hil_mode(false),
_calibrating(false),
_backends_detected(false),
_accel_cal_requires_reboot(false),
_startup_error_counts_set(false),
_startup_ms(0)
_log_raw_bit(-1)
{
if (_s_instance) {
AP_HAL::panic("Too many inertial sensors");
}
_s_instance = this;
AP_Param::setup_object_defaults(this, var_info);
for (uint8_t i=0; i<INS_MAX_BACKENDS; i++) {
_backends[i] = nullptr;
}
for (uint8_t i=0; i<INS_MAX_INSTANCES; i++) {
_accel_error_count[i] = 0;
_gyro_error_count[i] = 0;
_gyro_cal_ok[i] = true;
_accel_clip_count[i] = 0;
_accel_max_abs_offsets[i] = 3.5f;
_accel_raw_sample_rates[i] = 0;
_gyro_raw_sample_rates[i] = 0;
_delta_velocity_acc[i].zero();
_delta_velocity_acc_dt[i] = 0;
_delta_angle_acc[i].zero();
_delta_angle_acc_dt[i] = 0;
_last_delta_angle[i].zero();
_last_raw_gyro[i].zero();
_accel_startup_error_count[i] = 0;
_gyro_startup_error_count[i] = 0;
}
for (uint8_t i=0; i<INS_VIBRATION_CHECK_INSTANCES; i++) {
_accel_vibe_floor_filter[i].set_cutoff_frequency(AP_INERTIAL_SENSOR_ACCEL_VIBE_FLOOR_FILT_HZ);
_accel_vibe_filter[i].set_cutoff_frequency(AP_INERTIAL_SENSOR_ACCEL_VIBE_FILT_HZ);
}
memset(_delta_velocity_valid,0,sizeof(_delta_velocity_valid));
memset(_delta_angle_valid,0,sizeof(_delta_angle_valid));
AP_AccelCal::register_client(this);
}