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AP_AHRS: remove pointless initialisations

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These are either in bss or new'd.

Saves ~130 bytes
This commit is contained in:
Peter Barker 2018-02-22 21:09:54 +11:00 committed by Francisco Ferreira
parent 51991fdd76
commit 355752ebb8
3 changed files with 1 additions and 43 deletions
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23
libraries/AP_AHRS/AP_AHRS.h
View File

@ -54,25 +54,10 @@ public:
// Constructor
AP_AHRS() :
roll(0.0f),
pitch(0.0f),
yaw(0.0f),
roll_sensor(0),
pitch_sensor(0),
yaw_sensor(0),
_vehicle_class(AHRS_VEHICLE_UNKNOWN),
_compass(nullptr),
_optflow(nullptr),
_airspeed(nullptr),
_beacon(nullptr),
_compass_last_update(0),
_cos_roll(1.0f),
_cos_pitch(1.0f),
_cos_yaw(1.0f),
_sin_roll(0.0f),
_sin_pitch(0.0f),
_sin_yaw(0.0f),
_active_accel_instance(0)
_cos_yaw(1.0f)
{
_singleton = this;
@ -86,12 +71,6 @@ public:
// enable centrifugal correction by default
_flags.correct_centrifugal = true;
// initialise _home
_home.options = 0;
_home.alt = 0;
_home.lng = 0;
_home.lat = 0;
_last_trim = _trim.get();
_rotation_autopilot_body_to_vehicle_body.from_euler(_last_trim.x, _last_trim.y, 0.0f);
_rotation_vehicle_body_to_autopilot_body = _rotation_autopilot_body_to_vehicle_body.transposed();

18
libraries/AP_AHRS/AP_AHRS_DCM.h
View File

@ -25,28 +25,10 @@ class AP_AHRS_DCM : public AP_AHRS {
public:
AP_AHRS_DCM()
: AP_AHRS()
, _omega_I_sum_time(0.0f)
, _renorm_val_sum(0.0f)
, _renorm_val_count(0)
, _error_rp(1.0f)
, _error_yaw(1.0f)
, _gps_last_update(0)
, _ra_deltat(0.0f)
, _ra_sum_start(0)
, _last_declination(0.0f)
, _mag_earth(1, 0)
, _have_gps_lock(false)
, _last_lat(0)
, _last_lng(0)
, _position_offset_north(0.0f)
, _position_offset_east(0.0f)
, _have_position(false)
, _last_wind_time(0)
, _last_airspeed(0.0f)
, _last_consistent_heading(0)
, _imu1_weight(0.5f)
, _last_failure_ms(0)
, _last_startup_ms(0)
{
_dcm_matrix.identity();

3
libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
View File

@ -36,9 +36,6 @@ AP_AHRS_NavEKF::AP_AHRS_NavEKF(NavEKF2 &_EKF2,
AP_AHRS_DCM(),
EKF2(_EKF2),
EKF3(_EKF3),
_ekf2_started(false),
_ekf3_started(false),
_force_ekf(false),
_ekf_flags(flags)
{
_dcm_matrix.identity();