From 7b51c907f5d5d7cd3dabc04172674ecbb2b6755d Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 13 Mar 2015 19:16:50 +1100
Subject: [PATCH] AP_Compass: zero some more variables in constructor and init

---
 libraries/AP_Compass/AP_Compass_AK8963.cpp  | 6 +++++-
 libraries/AP_Compass/AP_Compass_HIL.cpp     | 3 ++-
 libraries/AP_Compass/AP_Compass_HMC5843.cpp | 9 +++++++++
 libraries/AP_Compass/AP_Compass_PX4.cpp     | 8 +++++---
 4 files changed, 21 insertions(+), 5 deletions(-)

diff --git a/libraries/AP_Compass/AP_Compass_AK8963.cpp b/libraries/AP_Compass/AP_Compass_AK8963.cpp
index 83c045e5fb..33a2d3be31 100644
--- a/libraries/AP_Compass/AP_Compass_AK8963.cpp
+++ b/libraries/AP_Compass/AP_Compass_AK8963.cpp
@@ -286,7 +286,11 @@ bool AP_Compass_AK8963_MPU9250::read_raw()
 
 AP_Compass_AK8963::AP_Compass_AK8963(Compass &compass) : 
     AP_Compass_Backend(compass),    
-    _backend(NULL)
+    _backend(NULL),
+    _initialised(false),
+    _state(CONVERSION),
+    _last_update_timestamp(0),
+    _last_accum_time(0)
 {
     _initialised = false;
     _mag_x_accum =_mag_y_accum = _mag_z_accum = 0;
diff --git a/libraries/AP_Compass/AP_Compass_HIL.cpp b/libraries/AP_Compass/AP_Compass_HIL.cpp
index 61b731eb3f..05e06119c2 100644
--- a/libraries/AP_Compass/AP_Compass_HIL.cpp
+++ b/libraries/AP_Compass/AP_Compass_HIL.cpp
@@ -27,7 +27,8 @@ extern const AP_HAL::HAL& hal;
 
 // constructor
 AP_Compass_HIL::AP_Compass_HIL(Compass &compass):
-    AP_Compass_Backend(compass)    
+    AP_Compass_Backend(compass),
+    _compass_instance(0)
 {
     _compass._setup_earth_field();
 }
diff --git a/libraries/AP_Compass/AP_Compass_HMC5843.cpp b/libraries/AP_Compass/AP_Compass_HMC5843.cpp
index 82b4c69acb..b17160c21d 100644
--- a/libraries/AP_Compass/AP_Compass_HMC5843.cpp
+++ b/libraries/AP_Compass/AP_Compass_HMC5843.cpp
@@ -60,7 +60,16 @@ extern const AP_HAL::HAL& hal;
 // constructor
 AP_Compass_HMC5843::AP_Compass_HMC5843(Compass &compass):
     AP_Compass_Backend(compass),
+    _i2c_sem(NULL),
+    _mag_x(0),
+    _mag_y(0),
+    _mag_z(0),
+    _mag_x_accum(0),
+    _mag_y_accum(0),
+    _mag_z_accum(0),
     _accum_count(0),
+    _last_accum_time(0),
+    _compass_instance(0),
     _retry_time(0),
     _product_id(0)
 {}
diff --git a/libraries/AP_Compass/AP_Compass_PX4.cpp b/libraries/AP_Compass/AP_Compass_PX4.cpp
index 8b7812c3b1..f491913bc4 100644
--- a/libraries/AP_Compass/AP_Compass_PX4.cpp
+++ b/libraries/AP_Compass/AP_Compass_PX4.cpp
@@ -43,8 +43,10 @@ extern const AP_HAL::HAL& hal;
 
 // constructor
 AP_Compass_PX4::AP_Compass_PX4(Compass &compass):
-    AP_Compass_Backend(compass)
-{}
+    AP_Compass_Backend(compass),
+    _num_sensors(0)
+{
+}
 
 // detect the sensor
 AP_Compass_Backend *AP_Compass_PX4::detect(Compass &compass)
@@ -91,7 +93,7 @@ bool AP_Compass_PX4::init(void)
 
         // remember if the compass is external
         set_external(_instance[i], ioctl(_mag_fd[i], MAGIOCGEXTERNAL, 0) > 0);
-        _count[0] = 0;
+        _count[i] = 0;
         _sum[i].zero();
     }