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Copter: remove pointless initialisations

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Also reduce storage size of gps primary
This commit is contained in:
Peter Barker 2018-02-22 15:30:48 +11:00 committed by Randy Mackay
parent 1a68979050
commit 846506230d
2 changed files with 2 additions and 18 deletions
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16
ArduCopter/Copter.cpp
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@ -29,30 +29,14 @@ Copter::Copter(void)
control_mode(STABILIZE),
scaleLongDown(1),
simple_cos_yaw(1.0f),
simple_sin_yaw(0.0f),
super_simple_last_bearing(0),
super_simple_cos_yaw(1.0),
super_simple_sin_yaw(0.0f),
initial_armed_bearing(0),
climb_rate(0),
target_rangefinder_alt(0.0f),
baro_alt(0),
baro_climbrate(0.0f),
land_accel_ef_filter(LAND_DETECTOR_ACCEL_LPF_CUTOFF),
rc_throttle_control_in_filter(1.0f),
auto_yaw_mode(AUTO_YAW_LOOK_AT_NEXT_WP),
yaw_look_at_WP_bearing(0.0f),
yaw_look_at_heading(0),
yaw_look_at_heading_slew(0),
yaw_look_ahead_bearing(0.0f),
inertial_nav(ahrs),
auto_trim_counter(0),
in_mavlink_delay(false),
param_loader(var_info),
flightmode(&mode_stabilize)
{
memset(&current_loc, 0, sizeof(current_loc));
// init sensor error logging flags
sensor_health.baro = true;
sensor_health.compass = true;

4
ArduCopter/Copter.h
View File

@ -269,7 +269,7 @@ private:
float ekfNavVelGainScaler;
// system time in milliseconds of last recorded yaw reset from ekf
uint32_t ekfYawReset_ms = 0;
uint32_t ekfYawReset_ms;
int8_t ekf_primary_core;
AP_SerialManager serial_manager;
@ -381,7 +381,7 @@ private:
struct {
uint8_t baro : 1; // true if baro is healthy
uint8_t compass : 1; // true if compass is healthy
uint8_t primary_gps; // primary gps index
uint8_t primary_gps : 2; // primary gps index
} sensor_health;
// Motor Output