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Global: To nullptr from NULL.

Browse Source 
RC_Channel: To nullptr from NULL.

AC_Fence: To nullptr from NULL.

AC_Avoidance: To nullptr from NULL.

AC_PrecLand: To nullptr from NULL.

DataFlash: To nullptr from NULL.

SITL: To nullptr from NULL.

GCS_MAVLink: To nullptr from NULL.

DataFlash: To nullptr from NULL.

AP_Compass: To nullptr from NULL.

Global: To nullptr from NULL.

Global: To nullptr from NULL.
This commit is contained in:
murata 2016-10-30 14:24:21 +09:00 committed by Lucas De Marchi
parent 5386edb791
commit c808ee2f49
161 changed files with 658 additions and 658 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
libraries/AC_Avoidance/AC_Avoid.cpp
View File

@ -115,7 +115,7 @@ void AC_Avoid::adjust_velocity_poly(const float kP, const float accel_cmss, Vect
Vector2f* boundary = _fence.get_polygon_points(num_points);
// exit if there are no points
if (boundary == NULL || num_points == 0) {
if (boundary == nullptr || num_points == 0) {
return;
}

4
libraries/AC_Fence/AC_Fence.cpp
View File

@ -345,7 +345,7 @@ bool AC_Fence::boundary_breached(const Vector2f& location, uint16_t num_points,
void AC_Fence::handle_msg(mavlink_channel_t chan, mavlink_message_t* msg)
{
// exit immediately if null message
if (msg == NULL) {
if (msg == nullptr) {
return;
}
@ -405,7 +405,7 @@ bool AC_Fence::load_polygon_from_eeprom(bool force_reload)
}
// exit if we could not allocate RAM for the boundary
if (_boundary == NULL) {
if (_boundary == nullptr) {
return false;
}

2
libraries/AC_Fence/AC_Fence.h
View File

@ -156,7 +156,7 @@ private:
// polygon fence variables
AC_PolyFence_loader _poly_loader; // helper for loading/saving polygon points
Vector2f *_boundary = NULL; // array of boundary points. Note: point 0 is the return point
Vector2f *_boundary = nullptr; // array of boundary points. Note: point 0 is the return point
uint8_t _boundary_num_points = 0; // number of points in the boundary array (should equal _total parameter after load has completed)
bool _boundary_create_attempted = false; // true if we have attempted to create the boundary array
bool _boundary_loaded = false; // true if boundary array has been loaded from eeprom

12
libraries/AC_Fence/AC_PolyFence_loader.cpp
View File

@ -13,13 +13,13 @@ uint8_t AC_PolyFence_loader::max_points() const
}
// create buffer to hold copy of eeprom points in RAM
// returns NULL if not enough memory can be allocated
// returns nullptr if not enough memory can be allocated
void* AC_PolyFence_loader::create_point_array(uint8_t element_size)
{
uint32_t array_size = max_points() * element_size;
if (hal.util->available_memory() < 100U + array_size) {
// too risky to enable as we could run out of stack
return NULL;
return nullptr;
}
return calloc(1, array_size);
@ -59,7 +59,7 @@ bool AC_PolyFence_loader::save_point_to_eeprom(uint16_t i, const Vector2l& point
bool AC_PolyFence_loader::boundary_valid(uint16_t num_points, const Vector2l* points, bool contains_return_point) const
{
// exit immediate if no points
if (points == NULL) {
if (points == nullptr) {
return false;
}
@ -87,7 +87,7 @@ bool AC_PolyFence_loader::boundary_valid(uint16_t num_points, const Vector2l* po
bool AC_PolyFence_loader::boundary_valid(uint16_t num_points, const Vector2f* points, bool contains_return_point) const
{
// exit immediate if no points
if (points == NULL) {
if (points == nullptr) {
return false;
}
@ -118,7 +118,7 @@ bool AC_PolyFence_loader::boundary_valid(uint16_t num_points, const Vector2f* po
bool AC_PolyFence_loader::boundary_breached(const Vector2l& location, uint16_t num_points, const Vector2l* points, bool contains_return_point) const
{
// exit immediate if no points
if (points == NULL) {
if (points == nullptr) {
return false;
}
@ -132,7 +132,7 @@ bool AC_PolyFence_loader::boundary_breached(const Vector2l& location, uint16_t n
bool AC_PolyFence_loader::boundary_breached(const Vector2f& location, uint16_t num_points, const Vector2f* points, bool contains_return_point) const
{
// exit immediate if no points
if (points == NULL) {
if (points == nullptr) {
return false;
}

2
libraries/AC_Fence/AC_PolyFence_loader.h
View File

@ -12,7 +12,7 @@ public:
uint8_t max_points() const;
// create buffer to hold copy of eeprom points in RAM
// returns NULL if not enough memory can be allocated
// returns nullptr if not enough memory can be allocated
void* create_point_array(uint8_t element_size);
// load boundary point from eeprom, returns true on successful load

12
libraries/AC_PrecLand/AC_PrecLand.cpp
View File

@ -60,7 +60,7 @@ AC_PrecLand::AC_PrecLand(const AP_AHRS& ahrs, const AP_InertialNav& inav) :
_inav(inav),
_last_update_ms(0),
_last_backend_los_meas_ms(0),
_backend(NULL)
_backend(nullptr)
{
// set parameters to defaults
AP_Param::setup_object_defaults(this, var_info);
@ -74,12 +74,12 @@ AC_PrecLand::AC_PrecLand(const AP_AHRS& ahrs, const AP_InertialNav& inav) :
void AC_PrecLand::init()
{
// exit immediately if init has already been run
if (_backend != NULL) {
if (_backend != nullptr) {
return;
}
// default health to false
_backend = NULL;
_backend = nullptr;
_backend_state.healthy = false;
// instantiate backend based on type parameter
@ -101,7 +101,7 @@ void AC_PrecLand::init()
}
// init backend
if (_backend != NULL) {
if (_backend != nullptr) {
_backend->init();
}
}
@ -112,7 +112,7 @@ void AC_PrecLand::update(float rangefinder_alt_cm, bool rangefinder_alt_valid)
_attitude_history.push_back(_ahrs.get_rotation_body_to_ned());
// run backend update
if (_backend != NULL && _enabled) {
if (_backend != nullptr && _enabled) {
// read from sensor
_backend->update();
@ -228,7 +228,7 @@ bool AC_PrecLand::get_target_velocity_relative_cms(Vector2f& ret) const
void AC_PrecLand::handle_msg(mavlink_message_t* msg)
{
// run backend update
if (_backend != NULL) {
if (_backend != nullptr) {
_backend->handle_msg(msg);
}
}

4
libraries/AC_WPNav/AC_WPNav.cpp
View File

@ -303,7 +303,7 @@ void AC_WPNav::calc_loiter_desired_velocity(float nav_dt, float ekfGndSpdLimit)
}
// Limit the velocity to prevent fence violations
if (_avoid != NULL) {
if (_avoid != nullptr) {
_avoid->adjust_velocity(_pos_control.get_pos_xy_kP(), _loiter_accel_cmss, desired_vel);
}
@ -1170,7 +1170,7 @@ bool AC_WPNav::get_terrain_offset(float& offset_cm)
// use terrain database
float terr_alt = 0.0f;
if (_terrain != NULL && _terrain->height_above_terrain(terr_alt, true)) {
if (_terrain != nullptr && _terrain->height_above_terrain(terr_alt, true)) {
offset_cm = _inav.get_altitude() - (terr_alt * 100.0f);
return true;
}

4
libraries/AC_WPNav/AC_WPNav.h
View File

@ -313,8 +313,8 @@ protected:
const AP_AHRS& _ahrs;
AC_PosControl& _pos_control;
const AC_AttitudeControl& _attitude_control;
AP_Terrain *_terrain = NULL;
AC_Avoid *_avoid = NULL;
AP_Terrain *_terrain = nullptr;
AC_Avoid *_avoid = nullptr;
// parameters
AP_Float _loiter_speed_cms; // maximum horizontal speed in cm/s while in loiter

10
libraries/AP_AHRS/AP_AHRS.h
View File

@ -54,9 +54,9 @@ public:
pitch_sensor(0),
yaw_sensor(0),
_vehicle_class(AHRS_VEHICLE_UNKNOWN),
_compass(NULL),
_optflow(NULL),
_airspeed(NULL),
_compass(nullptr),
_optflow(nullptr),
_airspeed(nullptr),
_compass_last_update(0),
_ins(ins),
_baro(baro),
@ -140,7 +140,7 @@ public:
// this makes initial config easier
void set_orientation() {
_ins.set_board_orientation((enum Rotation)_board_orientation.get());
if (_compass != NULL) {
if (_compass != nullptr) {
_compass->set_board_orientation((enum Rotation)_board_orientation.get());
}
}
@ -278,7 +278,7 @@ public:
// return true if airspeed comes from an airspeed sensor, as
// opposed to an IMU estimate
bool airspeed_sensor_enabled(void) const {
return _airspeed != NULL && _airspeed->use() && _airspeed->healthy();
return _airspeed != nullptr && _airspeed->use() && _airspeed->healthy();
}
// return a ground vector estimate in meters/second, in North/East order

2
libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.cpp
View File

@ -40,7 +40,7 @@ void setup(void)
} else {
hal.console->printf("No compass detected\n");
}
gps.init(NULL, serial_manager);
gps.init(nullptr, serial_manager);
}
void loop(void)

14
libraries/AP_AccelCal/AP_AccelCal.cpp
View File

@ -45,7 +45,7 @@ void AP_AccelCal::update()
}
if(_start_collect_sample) {
collect_sample();
_gcs->set_snoop(NULL);
_gcs->set_snoop(nullptr);
_start_collect_sample = false;
}
switch(_status) {
@ -55,7 +55,7 @@ void AP_AccelCal::update()
case ACCEL_CAL_WAITING_FOR_ORIENTATION: {
// if we're waiting for orientation, first ensure that all calibrators are on the same step
uint8_t step;
if ((cal = get_calibrator(0)) == NULL) {
if ((cal = get_calibrator(0)) == nullptr) {
fail();
return;
}
@ -153,7 +153,7 @@ void AP_AccelCal::update()
void AP_AccelCal::start(GCS_MAVLINK *gcs)
{
if (gcs == NULL || _started) {
if (gcs == nullptr || _started) {
return;
}
_start_collect_sample = false;
@ -218,7 +218,7 @@ void AP_AccelCal::clear()
cal->clear();
}
_gcs = NULL;
_gcs = nullptr;
_step = 0;
_started = false;
@ -245,12 +245,12 @@ void AP_AccelCal::collect_sample()
cal->collect_sample();
}
// setup snooping of packets so we can see the COMMAND_ACK
_gcs->set_snoop(NULL);
_gcs->set_snoop(nullptr);
update_status();
}
void AP_AccelCal::register_client(AP_AccelCal_Client* client) {
if (client == NULL || _num_clients >= AP_ACCELCAL_MAX_NUM_CLIENTS) {
if (client == nullptr || _num_clients >= AP_ACCELCAL_MAX_NUM_CLIENTS) {
return;
}
@ -274,7 +274,7 @@ AccelCalibrator* AP_AccelCal::get_calibrator(uint8_t index) {
index--;
}
}
return NULL;
return nullptr;
}
void AP_AccelCal::update_status() {

16
libraries/AP_AccelCal/AccelCalibrator.cpp
View File

@ -29,7 +29,7 @@ const extern AP_HAL::HAL& hal;
AccelCalibrator::AccelCalibrator() :
_conf_tolerance(ACCEL_CAL_TOLERANCE),
_sample_buffer(NULL)
_sample_buffer(nullptr)
{
clear();
}
@ -239,7 +239,7 @@ void AccelCalibrator::get_calibration(Vector3f& offset, Vector3f& diag, Vector3f
*/
bool AccelCalibrator::accept_sample(const Vector3f& sample)
{
if (_sample_buffer == NULL) {
if (_sample_buffer == nullptr) {
return false;
}
@ -262,9 +262,9 @@ void AccelCalibrator::set_status(enum accel_cal_status_t status) {
_status = ACCEL_CAL_NOT_STARTED;
_samples_collected = 0;
if (_sample_buffer != NULL) {
if (_sample_buffer != nullptr) {
free(_sample_buffer);
_sample_buffer = NULL;
_sample_buffer = nullptr;
}
break;
@ -273,9 +273,9 @@ void AccelCalibrator::set_status(enum accel_cal_status_t status) {
//Callibrator has been started and is waiting for user to ack after orientation setting
if (!running()) {
_samples_collected = 0;
if (_sample_buffer == NULL) {
if (_sample_buffer == nullptr) {
_sample_buffer = (struct AccelSample*)calloc(_conf_num_samples,sizeof(struct AccelSample));
if (_sample_buffer == NULL) {
if (_sample_buffer == nullptr) {
set_status(ACCEL_CAL_FAILED);
break;
}
@ -325,7 +325,7 @@ void AccelCalibrator::set_status(enum accel_cal_status_t status) {
*/
void AccelCalibrator::run_fit(uint8_t max_iterations, float& fitness)
{
if (_sample_buffer == NULL) {
if (_sample_buffer == nullptr) {
return;
}
fitness = calc_mean_squared_residuals(_param.s);
@ -407,7 +407,7 @@ float AccelCalibrator::calc_mean_squared_residuals() const
// supplied
float AccelCalibrator::calc_mean_squared_residuals(const struct param_t& params) const
{
if (_sample_buffer == NULL || _samples_collected == 0) {
if (_sample_buffer == nullptr || _samples_collected == 0) {
return 1.0e30f;
}
float sum = 0.0f;

2
libraries/AP_Airspeed/AP_Airspeed_analog.cpp
View File

@ -37,7 +37,7 @@ bool AP_Airspeed_Analog::init()
// read the airspeed sensor
bool AP_Airspeed_Analog::get_differential_pressure(float &pressure)
{
if (_source == NULL) {
if (_source == nullptr) {
return false;
}
_source->set_pin(_pin);

2
libraries/AP_Airspeed/AP_Airspeed_analog.h
View File

@ -9,7 +9,7 @@ class AP_Airspeed_Analog : public AP_Airspeed_Backend
{
public:
AP_Airspeed_Analog(const AP_Int8 &pin, const AP_Float &psi_range)
: _source(NULL)
: _source(nullptr)
, _pin(pin)
, _psi_range(psi_range)
{ }

2
libraries/AP_Arming/AP_Arming.cpp
View File

@ -125,7 +125,7 @@ bool AP_Arming::airspeed_checks(bool report)
if ((checks_to_perform & ARMING_CHECK_ALL) ||
(checks_to_perform & ARMING_CHECK_AIRSPEED)) {
const AP_Airspeed *airspeed = ahrs.get_airspeed();
if (airspeed == NULL) {
if (airspeed == nullptr) {
// not an airspeed capable vehicle
return true;
}

4
libraries/AP_Avoidance/AP_Avoidance.cpp
View File

@ -125,10 +125,10 @@ AP_Avoidance::AP_Avoidance(AP_AHRS &ahrs, AP_ADSB &adsb) :
void AP_Avoidance::init(void)
{
debug("ADSB initialisation: %d obstacles", _obstacles_max.get());
if (_obstacles == NULL) {
if (_obstacles == nullptr) {
_obstacles = new AP_Avoidance::Obstacle[_obstacles_max];
if (_obstacles == NULL) {
if (_obstacles == nullptr) {
// dynamic RAM allocation of _obstacles[] failed, disable gracefully
hal.console->printf("Unable to initialize Avoidance obstacle list\n");
// disable ourselves to avoid repeated allocation attempts

2
libraries/AP_Baro/AP_Baro.cpp
View File

@ -324,7 +324,7 @@ void AP_Baro::init(void)
_num_drivers = 1;
#endif
if (_num_drivers == 0 || _num_sensors == 0 || drivers[0] == NULL) {
if (_num_drivers == 0 || _num_sensors == 0 || drivers[0] == nullptr) {
AP_HAL::panic("Baro: unable to initialise driver");
}
}

8
libraries/AP_BattMonitor/AP_BattMonitor.cpp
View File

@ -190,7 +190,7 @@ AP_BattMonitor::init()
}
// call init function for each backend
if (drivers[instance] != NULL) {
if (drivers[instance] != nullptr) {
drivers[instance]->init();
}
}
@ -201,7 +201,7 @@ void
AP_BattMonitor::read()
{
for (uint8_t i=0; i<_num_instances; i++) {
if (drivers[i] != NULL && _monitoring[i] != BattMonitor_TYPE_NONE) {
if (drivers[i] != nullptr && _monitoring[i] != BattMonitor_TYPE_NONE) {
drivers[i]->read();
}
}
@ -220,7 +220,7 @@ bool AP_BattMonitor::is_powering_off(uint8_t instance) const {
bool AP_BattMonitor::has_current(uint8_t instance) const
{
// check for analog voltage and current monitor or smbus monitor
if (instance < _num_instances && drivers[instance] != NULL) {
if (instance < _num_instances && drivers[instance] != nullptr) {
return (_monitoring[instance] == BattMonitor_TYPE_ANALOG_VOLTAGE_AND_CURRENT ||
_monitoring[instance] == BattMonitor_TYPE_SMBUS ||
_monitoring[instance] == BattMonitor_TYPE_BEBOP);
@ -261,7 +261,7 @@ float AP_BattMonitor::current_total_mah(uint8_t instance) const {
/// capacity_remaining_pct - returns the % battery capacity remaining (0 ~ 100)
uint8_t AP_BattMonitor::capacity_remaining_pct(uint8_t instance) const
{
if (instance < _num_instances && drivers[instance] != NULL) {
if (instance < _num_instances && drivers[instance] != nullptr) {
return drivers[instance]->capacity_remaining_pct();
} else {
return 0;

2
libraries/AP_BoardConfig/px4_drivers.cpp
View File

@ -122,7 +122,7 @@ void AP_BoardConfig::px4_setup_uart()
{
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
hal.uartC->set_flow_control((AP_HAL::UARTDriver::flow_control)px4.ser1_rtscts.get());
if (hal.uartD != NULL) {
if (hal.uartD != nullptr) {
hal.uartD->set_flow_control((AP_HAL::UARTDriver::flow_control)px4.ser2_rtscts.get());
}
#endif

12
libraries/AP_Common/Location.cpp
View File

@ -10,8 +10,8 @@
extern const AP_HAL::HAL& hal;
const AP_AHRS_NavEKF *Location_Class::_ahrs = NULL;
AP_Terrain *Location_Class::_terrain = NULL;
const AP_AHRS_NavEKF *Location_Class::_ahrs = nullptr;
AP_Terrain *Location_Class::_terrain = nullptr;
// scalers to convert latitude and longitude to meters. Duplicated from location.cpp
#define LOCATION_SCALING_FACTOR 0.011131884502145034f
@ -45,7 +45,7 @@ Location_Class::Location_Class(const Vector3f &ekf_offset_neu)
set_alt_cm(ekf_offset_neu.z, ALT_FRAME_ABOVE_ORIGIN);
// calculate lat, lon
if (_ahrs != NULL) {
if (_ahrs != nullptr) {
Location ekf_origin;
if (_ahrs->get_origin(ekf_origin)) {
lat = ekf_origin.lat;
@ -130,7 +130,7 @@ bool Location_Class::get_alt_cm(ALT_FRAME desired_frame, int32_t &ret_alt_cm) co
float alt_terr_cm = 0;
if (frame == ALT_FRAME_ABOVE_TERRAIN || desired_frame == ALT_FRAME_ABOVE_TERRAIN) {
#if AP_TERRAIN_AVAILABLE
if (_ahrs == NULL || _terrain == NULL || !_terrain->height_amsl(*(Location *)this, alt_terr_cm, true)) {
if (_ahrs == nullptr || _terrain == nullptr || !_terrain->height_amsl(*(Location *)this, alt_terr_cm, true)) {
return false;
}
// convert terrain alt to cm
@ -153,7 +153,7 @@ bool Location_Class::get_alt_cm(ALT_FRAME desired_frame, int32_t &ret_alt_cm) co
{
// fail if we cannot get ekf origin
Location ekf_origin;
if (_ahrs == NULL || !_ahrs->get_origin(ekf_origin)) {
if (_ahrs == nullptr || !_ahrs->get_origin(ekf_origin)) {
return false;
}
alt_abs = alt + ekf_origin.alt;
@ -179,7 +179,7 @@ bool Location_Class::get_alt_cm(ALT_FRAME desired_frame, int32_t &ret_alt_cm) co
{
// fail if we cannot get ekf origin
Location ekf_origin;
if (_ahrs == NULL || !_ahrs->get_origin(ekf_origin)) {
if (_ahrs == nullptr || !_ahrs->get_origin(ekf_origin)) {
return false;
}
ret_alt_cm = alt_abs - ekf_origin.alt;

2
libraries/AP_Compass/AP_Compass.cpp
View File

@ -420,7 +420,7 @@ Compass::Compass(void) :
{
AP_Param::setup_object_defaults(this, var_info);
for (uint8_t i=0; i<COMPASS_MAX_BACKEND; i++) {
_backends[i] = NULL;
_backends[i] = nullptr;
_state[i].last_update_usec = 0;
}

6
libraries/AP_Compass/AP_Compass_HIL.cpp
View File

@ -36,12 +36,12 @@ AP_Compass_HIL::AP_Compass_HIL(Compass &compass):
AP_Compass_Backend *AP_Compass_HIL::detect(Compass &compass)
{
AP_Compass_HIL *sensor = new AP_Compass_HIL(compass);
if (sensor == NULL) {
return NULL;
if (sensor == nullptr) {
return nullptr;
}
if (!sensor->init()) {
delete sensor;
return NULL;
return nullptr;
}
return sensor;
}

6
libraries/AP_Compass/AP_Compass_PX4.cpp
View File

@ -51,12 +51,12 @@ AP_Compass_PX4::AP_Compass_PX4(Compass &compass):
AP_Compass_Backend *AP_Compass_PX4::detect(Compass &compass)
{
AP_Compass_PX4 *sensor = new AP_Compass_PX4(compass);
if (sensor == NULL) {
return NULL;
if (sensor == nullptr) {
return nullptr;
}
if (!sensor->init()) {
delete sensor;
return NULL;
return nullptr;
}
return sensor;
}

6
libraries/AP_Compass/AP_Compass_QURT.cpp
View File

@ -34,12 +34,12 @@ AP_Compass_QURT::AP_Compass_QURT(Compass &compass):
AP_Compass_Backend *AP_Compass_QURT::detect(Compass &compass)
{
AP_Compass_QURT *sensor = new AP_Compass_QURT(compass);
if (sensor == NULL) {
return NULL;
if (sensor == nullptr) {
return nullptr;
}
if (!sensor->init()) {
delete sensor;
return NULL;
return nullptr;
}
return sensor;
}

6
libraries/AP_Compass/AP_Compass_qflight.cpp
View File

@ -34,12 +34,12 @@ AP_Compass_QFLIGHT::AP_Compass_QFLIGHT(Compass &compass):
AP_Compass_Backend *AP_Compass_QFLIGHT::detect(Compass &compass)
{
AP_Compass_QFLIGHT *sensor = new AP_Compass_QFLIGHT(compass);
if (sensor == NULL) {
return NULL;
if (sensor == nullptr) {
return nullptr;
}
if (!sensor->init()) {
delete sensor;
return NULL;
return nullptr;
}
return sensor;
}

28
libraries/AP_Compass/CompassCalibrator.cpp
View File

@ -77,7 +77,7 @@ extern const AP_HAL::HAL& hal;
CompassCalibrator::CompassCalibrator():
_tolerance(COMPASS_CAL_DEFAULT_TOLERANCE),
_sample_buffer(NULL)
_sample_buffer(nullptr)
{
clear();
}
@ -263,9 +263,9 @@ bool CompassCalibrator::set_status(compass_cal_status_t status) {
reset_state();
_status = COMPASS_CAL_NOT_STARTED;
if(_sample_buffer != NULL) {
if(_sample_buffer != nullptr) {
free(_sample_buffer);
_sample_buffer = NULL;
_sample_buffer = nullptr;
}
return true;
@ -285,13 +285,13 @@ bool CompassCalibrator::set_status(compass_cal_status_t status) {
return false;
}
if (_sample_buffer == NULL) {
if (_sample_buffer == nullptr) {
_sample_buffer =
(CompassSample*) malloc(sizeof(CompassSample) *
COMPASS_CAL_NUM_SAMPLES);
}
if(_sample_buffer != NULL) {
if(_sample_buffer != nullptr) {
initialize_fit();
_status = COMPASS_CAL_RUNNING_STEP_ONE;
return true;
@ -313,9 +313,9 @@ bool CompassCalibrator::set_status(compass_cal_status_t status) {
return false;
}
if(_sample_buffer != NULL) {
if(_sample_buffer != nullptr) {
free(_sample_buffer);
_sample_buffer = NULL;
_sample_buffer = nullptr;
}
_status = COMPASS_CAL_SUCCESS;
@ -331,9 +331,9 @@ bool CompassCalibrator::set_status(compass_cal_status_t status) {
return true;
}
if(_sample_buffer != NULL) {
if(_sample_buffer != nullptr) {
free(_sample_buffer);
_sample_buffer = NULL;
_sample_buffer = nullptr;
}
_status = COMPASS_CAL_FAILED;
@ -363,7 +363,7 @@ bool CompassCalibrator::fit_acceptable() {
}
void CompassCalibrator::thin_samples() {
if(_sample_buffer == NULL) {
if(_sample_buffer == nullptr) {
return;
}
@ -410,7 +410,7 @@ bool CompassCalibrator::accept_sample(const Vector3f& sample)
static const float a = (4.0f * M_PI / (3.0f * faces)) + M_PI / 3.0f;
static const float theta = 0.5f * acosf(cosf(a) / (1.0f - cosf(a)));
if(_sample_buffer == NULL) {
if(_sample_buffer == nullptr) {
return false;
}
@ -445,7 +445,7 @@ float CompassCalibrator::calc_mean_squared_residuals() const
float CompassCalibrator::calc_mean_squared_residuals(const param_t& params) const
{
if(_sample_buffer == NULL || _samples_collected == 0) {
if(_sample_buffer == nullptr || _samples_collected == 0) {
return 1.0e30f;
}
float sum = 0.0f;
@ -493,7 +493,7 @@ void CompassCalibrator::calc_initial_offset()
void CompassCalibrator::run_sphere_fit()
{
if(_sample_buffer == NULL) {
if(_sample_buffer == nullptr) {
return;
}
@ -607,7 +607,7 @@ void CompassCalibrator::calc_ellipsoid_jacob(const Vector3f& sample, const param
void CompassCalibrator::run_ellipsoid_fit()
{
if(_sample_buffer == NULL) {
if(_sample_buffer == nullptr) {
return;
}

2
libraries/AP_Frsky_Telem/AP_Frsky_Telem.cpp
View File

@ -57,7 +57,7 @@ void AP_Frsky_Telem::init(const AP_SerialManager &serial_manager, const char *fi
}
}
if (_port != NULL) {
if (_port != nullptr) {
hal.scheduler->register_io_process(FUNCTOR_BIND_MEMBER(&AP_Frsky_Telem::tick, void));
// we don't want flow control for either protocol
_port->set_flow_control(AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE);

34
libraries/AP_GPS/AP_GPS.cpp
View File

@ -235,7 +235,7 @@ void AP_GPS::send_blob_start(uint8_t instance, const char *_blob, uint16_t size)
void AP_GPS::send_blob_update(uint8_t instance)
{
// exit immediately if no uart for this instance
if (_port[instance] == NULL) {
if (_port[instance] == nullptr) {
return;
}
@ -262,7 +262,7 @@ void AP_GPS::send_blob_update(uint8_t instance)
void
AP_GPS::detect_instance(uint8_t instance)
{
AP_GPS_Backend *new_gps = NULL;
AP_GPS_Backend *new_gps = nullptr;
struct detect_state *dstate = &detect_state[instance];
uint32_t now = AP_HAL::millis();
@ -288,11 +288,11 @@ AP_GPS::detect_instance(uint8_t instance)
// do not try to detect the MAV type, assume it's there
if (_type[instance] == GPS_TYPE_MAV) {
_broadcast_gps_type("MAV", instance, -1);
new_gps = new AP_GPS_MAV(*this, state[instance], NULL);
new_gps = new AP_GPS_MAV(*this, state[instance], nullptr);
goto found_gps;
}
if (_port[instance] == NULL) {
if (_port[instance] == nullptr) {
// UART not available
return;
}
@ -342,7 +342,7 @@ AP_GPS::detect_instance(uint8_t instance)
}
while (initblob_state[instance].remaining == 0 && _port[instance]->available() > 0
&& new_gps == NULL) {
&& new_gps == nullptr) {
uint8_t data = _port[instance]->read();
/*
running a uBlox at less than 38400 will lead to packet
@ -395,7 +395,7 @@ AP_GPS::detect_instance(uint8_t instance)
}
found_gps:
if (new_gps != NULL) {
if (new_gps != nullptr) {
state[instance].status = NO_FIX;
drivers[instance] = new_gps;
timing[instance].last_message_time_ms = now;
@ -405,7 +405,7 @@ found_gps:
AP_GPS::GPS_Status
AP_GPS::highest_supported_status(uint8_t instance) const
{
if (drivers[instance] != NULL)
if (drivers[instance] != nullptr)
return drivers[instance]->highest_supported_status();
return AP_GPS::GPS_OK_FIX_3D;
}
@ -413,7 +413,7 @@ AP_GPS::highest_supported_status(uint8_t instance) const
AP_GPS::GPS_Status
AP_GPS::highest_supported_status(void) const
{
if (drivers[primary_instance] != NULL)
if (drivers[primary_instance] != nullptr)
return drivers[primary_instance]->highest_supported_status();
return AP_GPS::GPS_OK_FIX_3D;
}
@ -440,7 +440,7 @@ AP_GPS::update_instance(uint8_t instance)
return;
}
if (drivers[instance] == NULL || state[instance].status == NO_GPS) {
if (drivers[instance] == nullptr || state[instance].status == NO_GPS) {
// we don't yet know the GPS type of this one, or it has timed
// out and needs to be re-initialised
detect_instance(instance);
@ -463,7 +463,7 @@ AP_GPS::update_instance(uint8_t instance)
// free the driver before we run the next detection, so we
// don't end up with two allocated at any time
delete drivers[instance];
drivers[instance] = NULL;
drivers[instance] = nullptr;
memset(&state[instance], 0, sizeof(state[instance]));
state[instance].instance = instance;
state[instance].status = NO_GPS;
@ -544,7 +544,7 @@ AP_GPS::handle_msg(const mavlink_message_t *msg)
}
uint8_t i;
for (i=0; i<num_instances; i++) {
if ((drivers[i] != NULL) && (_type[i] != GPS_TYPE_NONE)) {
if ((drivers[i] != nullptr) && (_type[i] != GPS_TYPE_NONE)) {
drivers[i]->handle_msg(msg);
}
}
@ -634,7 +634,7 @@ AP_GPS::inject_data(uint8_t *data, uint8_t len)
void
AP_GPS::inject_data(uint8_t instance, uint8_t *data, uint8_t len)
{
if (instance < GPS_MAX_INSTANCES && drivers[instance] != NULL)
if (instance < GPS_MAX_INSTANCES && drivers[instance] != nullptr)
drivers[instance]->inject_data(data, len);
}
@ -704,7 +704,7 @@ AP_GPS::send_mavlink_gps2_raw(mavlink_channel_t chan)
void
AP_GPS::send_mavlink_gps_rtk(mavlink_channel_t chan)
{
if (drivers[0] != NULL && drivers[0]->highest_supported_status() > AP_GPS::GPS_OK_FIX_3D) {
if (drivers[0] != nullptr && drivers[0]->highest_supported_status() > AP_GPS::GPS_OK_FIX_3D) {
drivers[0]->send_mavlink_gps_rtk(chan);
}
}
@ -712,7 +712,7 @@ AP_GPS::send_mavlink_gps_rtk(mavlink_channel_t chan)
void
AP_GPS::send_mavlink_gps2_rtk(mavlink_channel_t chan)
{
if (drivers[1] != NULL && drivers[1]->highest_supported_status() > AP_GPS::GPS_OK_FIX_3D) {
if (drivers[1] != nullptr && drivers[1]->highest_supported_status() > AP_GPS::GPS_OK_FIX_3D) {
drivers[1]->send_mavlink_gps_rtk(chan);
}
}
@ -721,7 +721,7 @@ uint8_t
AP_GPS::first_unconfigured_gps(void) const
{
for(int i = 0; i < GPS_MAX_INSTANCES; i++) {
if(_type[i] != GPS_TYPE_NONE && (drivers[i] == NULL || !drivers[i]->is_configured())) {
if(_type[i] != GPS_TYPE_NONE && (drivers[i] == nullptr || !drivers[i]->is_configured())) {
return i;
}
}
@ -731,7 +731,7 @@ AP_GPS::first_unconfigured_gps(void) const
void
AP_GPS::broadcast_first_configuration_failure_reason(void) const {
uint8_t unconfigured = first_unconfigured_gps();
if (drivers[unconfigured] == NULL) {
if (drivers[unconfigured] == nullptr) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "GPS %d: was not found", unconfigured + 1);
} else {
drivers[unconfigured]->broadcast_configuration_failure_reason();
@ -835,7 +835,7 @@ void AP_GPS::inject_data_all(const uint8_t *data, uint16_t len)
{
uint8_t i;
for (i=0; i<num_instances; i++) {
if ((drivers[i] != NULL) && (_type[i] != GPS_TYPE_NONE)) {
if ((drivers[i] != nullptr) && (_type[i] != GPS_TYPE_NONE)) {
drivers[i]->inject_data(data, len);
}
}

6
libraries/AP_GPS/AP_GPS_NMEA.cpp
View File

@ -118,11 +118,11 @@ bool AP_GPS_NMEA::read(void)
while (numc--) {
char c = port->read();
#ifdef NMEA_LOG_PATH
static FILE *logf = NULL;
if (logf == NULL) {
static FILE *logf = nullptr;
if (logf == nullptr) {
logf = fopen(NMEA_LOG_PATH, "wb");
}
if (logf != NULL) {
if (logf != nullptr) {
::fwrite(&c, 1, 1, logf);
}
#endif

2
libraries/AP_GPS/AP_GPS_SBF.cpp
View File

@ -163,7 +163,7 @@ AP_GPS_SBF::parse(uint8_t temp)
void
AP_GPS_SBF::log_ExtEventPVTGeodetic(const msg4007 &temp)
{
if (gps._DataFlash == NULL || !gps._DataFlash->logging_started()) {
if (gps._DataFlash == nullptr || !gps._DataFlash->logging_started()) {
return;
}

4
libraries/AP_GPS/AP_GPS_SBP.cpp
View File

@ -387,7 +387,7 @@ void
AP_GPS_SBP::logging_log_full_update()
{
if (gps._DataFlash == NULL || !gps._DataFlash->logging_started()) {
if (gps._DataFlash == nullptr || !gps._DataFlash->logging_started()) {
return;
}
@ -408,7 +408,7 @@ AP_GPS_SBP::logging_log_raw_sbp(uint16_t msg_type,
uint8_t msg_len,
uint8_t *msg_buff) {
if (gps._DataFlash == NULL || !gps._DataFlash->logging_started()) {
if (gps._DataFlash == nullptr || !gps._DataFlash->logging_started()) {
return;
}

22
libraries/AP_GPS/AP_GPS_UBLOX.cpp
View File

@ -68,7 +68,7 @@ AP_GPS_UBLOX::AP_GPS_UBLOX(AP_GPS &_gps, AP_GPS::GPS_State &_state, AP_HAL::UART
noReceivedHdop(true)
{
// stop any config strings that are pending
gps.send_blob_start(state.instance, NULL, 0);
gps.send_blob_start(state.instance, nullptr, 0);
// start the process of updating the GPS rates
_request_next_config();
@ -114,16 +114,16 @@ AP_GPS_UBLOX::_request_next_config(void)
}
break;
case STEP_POLL_SBAS:
_send_message(CLASS_CFG, MSG_CFG_SBAS, NULL, 0);
_send_message(CLASS_CFG, MSG_CFG_SBAS, nullptr, 0);
break;
case STEP_POLL_NAV:
_send_message(CLASS_CFG, MSG_CFG_NAV_SETTINGS, NULL, 0);
_send_message(CLASS_CFG, MSG_CFG_NAV_SETTINGS, nullptr, 0);
break;
case STEP_POLL_GNSS:
_send_message(CLASS_CFG, MSG_CFG_GNSS, NULL, 0);
_send_message(CLASS_CFG, MSG_CFG_GNSS, nullptr, 0);
break;
case STEP_NAV_RATE:
_send_message(CLASS_CFG, MSG_CFG_RATE, NULL, 0);
_send_message(CLASS_CFG, MSG_CFG_RATE, nullptr, 0);
break;
case STEP_POSLLH:
if(!_request_message_rate(CLASS_NAV, MSG_POSLLH)) {
@ -307,7 +307,7 @@ AP_GPS_UBLOX::_request_port(void)
// not enough space - do it next time
return;
}
_send_message(CLASS_CFG, MSG_CFG_PRT, NULL, 0);
_send_message(CLASS_CFG, MSG_CFG_PRT, nullptr, 0);
}
// Ensure there is enough space for the largest possible outgoing message
// Process bytes available from the stream
@ -462,7 +462,7 @@ AP_GPS_UBLOX::read(void)
// Private Methods /////////////////////////////////////////////////////////////
void AP_GPS_UBLOX::log_mon_hw(void)
{
if (gps._DataFlash == NULL || !gps._DataFlash->logging_started()) {
if (gps._DataFlash == nullptr || !gps._DataFlash->logging_started()) {
return;
}
struct log_Ubx1 pkt = {
@ -485,7 +485,7 @@ void AP_GPS_UBLOX::log_mon_hw(void)
void AP_GPS_UBLOX::log_mon_hw2(void)
{
if (gps._DataFlash == NULL || !gps._DataFlash->logging_started()) {
if (gps._DataFlash == nullptr || !gps._DataFlash->logging_started()) {
return;
}
@ -504,7 +504,7 @@ void AP_GPS_UBLOX::log_mon_hw2(void)
#if UBLOX_RXM_RAW_LOGGING
void AP_GPS_UBLOX::log_rxm_raw(const struct ubx_rxm_raw &raw)
{
if (gps._DataFlash == NULL || !gps._DataFlash->logging_started()) {
if (gps._DataFlash == nullptr || !gps._DataFlash->logging_started()) {
return;
}
uint64_t now = AP_HAL::micros64();
@ -529,7 +529,7 @@ void AP_GPS_UBLOX::log_rxm_raw(const struct ubx_rxm_raw &raw)
void AP_GPS_UBLOX::log_rxm_rawx(const struct ubx_rxm_rawx &raw)
{
if (gps._DataFlash == NULL || !gps._DataFlash->logging_started()) {
if (gps._DataFlash == nullptr || !gps._DataFlash->logging_started()) {
return;
}
uint64_t now = AP_HAL::micros64();
@ -1138,7 +1138,7 @@ reset:
void
AP_GPS_UBLOX::_request_version(void)
{
_send_message(CLASS_MON, MSG_MON_VER, NULL, 0);
_send_message(CLASS_MON, MSG_MON_VER, nullptr, 0);
}
void

2
libraries/AP_GPS/examples/GPS_AUTO_test/GPS_AUTO_test.cpp
View File

@ -58,7 +58,7 @@ void setup()
// Initialize the UART for GPS system
serial_manager.init();
gps.init(NULL, serial_manager);
gps.init(nullptr, serial_manager);
}
void loop()

2
libraries/AP_HAL/AP_HAL_Boards.h
View File

@ -152,7 +152,7 @@
#endif
#ifndef HAL_PARAM_DEFAULTS_PATH
#define HAL_PARAM_DEFAULTS_PATH NULL
#define HAL_PARAM_DEFAULTS_PATH nullptr
#endif
#ifndef HAL_HAVE_IMU_HEATER

2
libraries/AP_HAL/Util.cpp
View File

@ -55,7 +55,7 @@ uint64_t AP_HAL::Util::get_system_clock_ms() const
{
#if defined(__APPLE__) && defined(__MACH__)
struct timeval ts;
gettimeofday(&ts, NULL);
gettimeofday(&ts, nullptr);
return ((long long)((ts.tv_sec * 1000) + (ts.tv_usec / 1000)));
#else
struct timespec ts;

8
libraries/AP_HAL/Util.h
View File

@ -18,8 +18,8 @@ public:
void clear_capabilities(uint64_t cap) { capabilities &= ~(cap); }
uint64_t get_capabilities() const { return capabilities; }
virtual const char* get_custom_log_directory() { return NULL; }
virtual const char* get_custom_terrain_directory() const { return NULL; }
virtual const char* get_custom_log_directory() { return nullptr; }
virtual const char* get_custom_terrain_directory() const { return nullptr; }
// get path to custom defaults file for AP_Param
virtual const char* get_custom_defaults_file() const {
@ -86,7 +86,7 @@ public:
/*
return a stream for access to a system shell, if available
*/
virtual AP_HAL::Stream *get_shell_stream() { return NULL; }
virtual AP_HAL::Stream *get_shell_stream() { return nullptr; }
/* Support for an imu heating system */
virtual void set_imu_temp(float current) {}
@ -103,7 +103,7 @@ public:
PC_INTERVAL /**< measure the interval between instances of an event */
};
typedef void *perf_counter_t;
virtual perf_counter_t perf_alloc(perf_counter_type t, const char *name) { return NULL; }
virtual perf_counter_t perf_alloc(perf_counter_type t, const char *name) { return nullptr; }
virtual void perf_begin(perf_counter_t h) {}
virtual void perf_end(perf_counter_t h) {}
virtual void perf_count(perf_counter_t h) {}

4
libraries/AP_HAL/examples/UART_test/UART_test.cpp
View File

@ -15,7 +15,7 @@ const AP_HAL::HAL& hal = AP_HAL::get_HAL();
*/
static void setup_uart(AP_HAL::UARTDriver *uart, const char *name)
{
if (uart == NULL) {
if (uart == nullptr) {
// that UART doesn't exist on this platform
return;
}
@ -37,7 +37,7 @@ void setup(void)
static void test_uart(AP_HAL::UARTDriver *uart, const char *name)
{
if (uart == NULL) {
if (uart == nullptr) {
// that UART doesn't exist on this platform
return;
}

2
libraries/AP_HAL/utility/RingBuffer.h
View File

@ -278,7 +278,7 @@ public:
}
// allow array indexing, based on current head. Returns a pointer
// to the object or NULL
// to the object or nullptr
T * operator[](uint16_t i) {
if (i >= count) {
return nullptr;

10
libraries/AP_HAL/utility/Socket.cpp
View File

@ -169,7 +169,7 @@ bool SocketAPM::pollin(uint32_t timeout_ms)
tv.tv_sec = timeout_ms / 1000;
tv.tv_usec = (timeout_ms % 1000) * 1000UL;
if (select(fd+1, &fds, NULL, NULL, &tv) != 1) {
if (select(fd+1, &fds, nullptr, nullptr, &tv) != 1) {
return false;
}
return true;
@ -190,7 +190,7 @@ bool SocketAPM::pollout(uint32_t timeout_ms)
tv.tv_sec = timeout_ms / 1000;
tv.tv_usec = (timeout_ms % 1000) * 1000UL;
if (select(fd+1, NULL, &fds, NULL, &tv) != 1) {
if (select(fd+1, nullptr, &fds, nullptr, &tv) != 1) {
return false;
}
return true;
@ -211,12 +211,12 @@ bool SocketAPM::listen(uint16_t backlog)
SocketAPM *SocketAPM::accept(uint32_t timeout_ms)
{
if (!pollin(timeout_ms)) {
return NULL;
return nullptr;
}
int newfd = ::accept(fd, NULL, NULL);
int newfd = ::accept(fd, nullptr, nullptr);
if (newfd == -1) {
return NULL;
return nullptr;
}
// turn off nagle for lower latency
int one = 1;

2
libraries/AP_HAL/utility/dsm.cpp
View File

@ -506,7 +506,7 @@ int main(int argc, const char *argv[])
tv.tv_usec = 0;
// check if any bytes are available
if (select(fd+1, &fds, NULL, NULL, &tv) != 1) {
if (select(fd+1, &fds, nullptr, nullptr, &tv) != 1) {
break;
}

10
libraries/AP_HAL/utility/getopt_cpp.cpp
View File

@ -57,7 +57,7 @@ GetOptLong::GetOptLong(int _argc, char *const _argv[], const char *_optstring, c
optind(1),
optopt(0),
longindex(-1),
optarg(NULL),
optarg(nullptr),
argc(_argc),
argv(_argv),
optstring(_optstring),
@ -106,7 +106,7 @@ int GetOptLong::getoption(void)
place++;
namelen = strcspn(place, "=");
for (i = 0; longopts[i].name != NULL; i++)
for (i = 0; longopts[i].name != nullptr; i++)
{
if (strlen(longopts[i].name) == namelen
&& strncmp(place, longopts[i].name, namelen) == 0)
@ -135,7 +135,7 @@ int GetOptLong::getoption(void)
}
else
{
optarg = NULL;
optarg = nullptr;
if (place[namelen] != 0)
{
/* XXX error? */
@ -148,7 +148,7 @@ int GetOptLong::getoption(void)
place = "";
if (longopts[i].flag == NULL)
if (longopts[i].flag == nullptr)
return longopts[i].val;
else
{
@ -183,7 +183,7 @@ int GetOptLong::getoption(void)
if (oli[1] != ':')
{ /* don't need argument */
optarg = NULL;
optarg = nullptr;
if (!*place)
++optind;
}

2
libraries/AP_HAL/utility/srxl.cpp
View File

@ -218,7 +218,7 @@ int main(int argc, const char *argv[])
tv.tv_usec = 0;
// check if any bytes are available
if (select(fd+1, &fds, NULL, NULL, &tv) != 1) {
if (select(fd+1, &fds, nullptr, nullptr, &tv) != 1) {
break;
}

6
libraries/AP_HAL_Empty/HAL_Empty_Class.cpp
View File

@ -27,9 +27,9 @@ HAL_Empty::HAL_Empty() :
&uartADriver,
&uartBDriver,
&uartCDriver,
NULL, /* no uartD */
NULL, /* no uartE */
NULL, /* no uartF */
nullptr, /* no uartD */
nullptr, /* no uartE */
nullptr, /* no uartF */
&spiDeviceManager,
&analogIn,
&storageDriver,

6
libraries/AP_HAL_Linux/AnalogIn_ADS1115.cpp
View File

@ -50,14 +50,14 @@ AnalogIn_ADS1115::AnalogIn_ADS1115()
AP_HAL::AnalogSource* AnalogIn_ADS1115::channel(int16_t pin)
{
for (uint8_t j = 0; j < _channels_number; j++) {
if (_channels[j] == NULL) {
if (_channels[j] == nullptr) {
_channels[j] = new AnalogSource_ADS1115(pin);
return _channels[j];
}
}
hal.console->println("Out of analog channels");
return NULL;
return nullptr;
}
void AnalogIn_ADS1115::init()
@ -83,7 +83,7 @@ void AnalogIn_ADS1115::_update()
for (uint8_t j=0; j < rc; j++) {
AnalogSource_ADS1115 *source = _channels[j];
if (source != NULL && reports[i].id == source->_pin) {
if (source != nullptr && reports[i].id == source->_pin) {
source->_value = reports[i].data / 1000;
}
}

6
libraries/AP_HAL_Linux/AnalogIn_Raspilot.cpp
View File

@ -61,14 +61,14 @@ float AnalogIn_Raspilot::board_voltage(void)
AP_HAL::AnalogSource* AnalogIn_Raspilot::channel(int16_t pin)
{
for (uint8_t j = 0; j < _channels_number; j++) {
if (_channels[j] == NULL) {
if (_channels[j] == nullptr) {
_channels[j] = new AnalogSource_Raspilot(pin);
return _channels[j];
}
}
hal.console->println("Out of analog channels");
return NULL;
return nullptr;
}
void AnalogIn_Raspilot::init()
@ -125,7 +125,7 @@ void AnalogIn_Raspilot::_update()
for (int16_t j=0; j < RASPILOT_ADC_MAX_CHANNELS; j++) {
AnalogSource_Raspilot *source = _channels[j];
if (source != NULL && i == source->_pin) {
if (source != nullptr && i == source->_pin) {
source->_value = rx.regs[i] * 3.3 / 4096.0;
}
}

2
libraries/AP_HAL_Linux/CameraSensor_Mt9v117.cpp
View File

@ -197,7 +197,7 @@ void CameraSensor_Mt9v117::_write_reg32(uint16_t reg, uint32_t val)
buf[4] = (uint8_t) ((val >> 8) & 0xFF);
buf[5] = (uint8_t) (val & 0xFF);
if (!_dev->transfer(buf, 6, NULL, 0)) {
if (!_dev->transfer(buf, 6, nullptr, 0)) {
hal.console->printf("mt9v117: error writing 0x%8x\n", reg);
}
}

2
libraries/AP_HAL_Linux/GPIO_RPI.cpp
View File

@ -55,7 +55,7 @@ void GPIO_RPI::init()
// mmap GPIO
void *gpio_map = mmap(
NULL, // Any adddress in our space will do
nullptr, // Any adddress in our space will do
BLOCK_SIZE, // Map length
PROT_READ|PROT_WRITE, // Enable reading & writting to mapped memory
MAP_SHARED, // Shared with other processes

10
libraries/AP_HAL_Linux/OpticalFlow_Onboard.cpp
View File

@ -68,7 +68,7 @@ void OpticalFlow_Onboard::init(AP_HAL::OpticalFlow::Gyro_Cb get_gyro)
left = (HAL_OPTFLOW_ONBOARD_SENSOR_WIDTH -
HAL_OPTFLOW_ONBOARD_SENSOR_HEIGHT) / 2;
if (device_path == NULL ||
if (device_path == nullptr ||
!_videoin->open_device(device_path, memtype)) {
AP_HAL::panic("OpticalFlow_Onboard: couldn't open "
"video device");
@ -170,7 +170,7 @@ void OpticalFlow_Onboard::init(AP_HAL::OpticalFlow::Gyro_Cb get_gyro)
/* Create the thread that will be waiting for frames
* Initialize thread and mutex */
ret = pthread_mutex_init(&_mutex, NULL);
ret = pthread_mutex_init(&_mutex, nullptr);
if (ret != 0) {
AP_HAL::panic("OpticalFlow_Onboard: failed to init mutex");
}
@ -222,7 +222,7 @@ void *OpticalFlow_Onboard::_read_thread(void *arg)
OpticalFlow_Onboard *optflow_onboard = (OpticalFlow_Onboard *) arg;
optflow_onboard->_run_optflow();
return NULL;
return nullptr;
}
void OpticalFlow_Onboard::_run_optflow()
@ -235,7 +235,7 @@ void OpticalFlow_Onboard::_run_optflow()
uint32_t crop_left = 0, crop_top = 0;
uint32_t shrink_scale = 0, shrink_width = 0, shrink_height = 0;
uint32_t shrink_width_offset = 0, shrink_height_offset = 0;
uint8_t *convert_buffer = NULL, *output_buffer = NULL;
uint8_t *convert_buffer = nullptr, *output_buffer = nullptr;
uint8_t qual;
if (_format == V4L2_PIX_FMT_YUYV) {
@ -330,7 +330,7 @@ void OpticalFlow_Onboard::_run_optflow()
/* if it is at least the second frame we receive
* since we have to compare 2 frames */
if (_last_video_frame.data == NULL) {
if (_last_video_frame.data == nullptr) {
_last_video_frame = video_frame;
continue;
}

6
libraries/AP_HAL_Linux/PWM_Sysfs.cpp
View File

@ -39,8 +39,8 @@ PWM_Sysfs_Base::PWM_Sysfs_Base(char* export_path, char* polarity_path,
, _duty_path(duty_path)
, _period_path(period_path)
{
if (_export_path == NULL || _enable_path == NULL ||
_period_path == NULL || _duty_path == NULL) {
if (_export_path == nullptr || _enable_path == nullptr ||
_period_path == nullptr || _duty_path == nullptr) {
AP_HAL::panic("PWM_Sysfs: export=%p enable=%p period=%p duty=%p"
" required path is NULL", _export_path, _enable_path,
_period_path, _duty_path);
@ -269,7 +269,7 @@ char *PWM_Sysfs_Bebop::_generate_period_path(uint8_t channel)
PWM_Sysfs_Bebop::PWM_Sysfs_Bebop(uint8_t channel) :
PWM_Sysfs_Base(_generate_export_path(),
NULL,
nullptr,
_generate_enable_path(channel),
_generate_duty_path(channel),
_generate_period_path(channel),

10
libraries/AP_HAL_Linux/PWM_Sysfs.h
View File

@ -46,11 +46,11 @@ protected:
private:
uint32_t _nsec_duty_cycle_value = 0;
int _duty_cycle_fd = -1;
char *_export_path = NULL;
char *_polarity_path = NULL;
char *_enable_path = NULL;
char *_duty_path = NULL;
char *_period_path = NULL;
char *_export_path = nullptr;
char *_polarity_path = nullptr;
char *_enable_path = nullptr;
char *_duty_path = nullptr;
char *_period_path = nullptr;
};
class PWM_Sysfs : public PWM_Sysfs_Base {

2
libraries/AP_HAL_Linux/RCInput.cpp
View File

@ -320,7 +320,7 @@ void RCInput::_process_rc_pulse(uint16_t width_s0, uint16_t width_s1)
#if 0
// useful for debugging
static FILE *rclog;
if (rclog == NULL) {
if (rclog == nullptr) {
rclog = fopen("/tmp/rcin.log", "w");
}
if (rclog) {

2
libraries/AP_HAL_Linux/RCInput_115200.cpp
View File

@ -87,7 +87,7 @@ void RCInput_115200::_timer_tick(void)
tv.tv_usec = 0;
// check if any bytes are available
if (select(fd+1, &fds, NULL, NULL, &tv) != 1) {
if (select(fd+1, &fds, nullptr, nullptr, &tv) != 1) {
return;
}

10
libraries/AP_HAL_Linux/RCInput_RPI.cpp
View File

@ -150,7 +150,7 @@ Memory_table::~Memory_table()
void* Memory_table::get_page(void** const pages, uint32_t addr) const
{
if (addr >= PAGE_SIZE * _page_count) {
return NULL;
return nullptr;
}
return (uint8_t*)pages[(uint32_t) addr / 4096] + addr % 4096;
}
@ -166,7 +166,7 @@ void* Memory_table::get_virt_addr(const uint32_t phys_addr) const
return (void*) ((uintptr_t) _virt_pages[i] + (phys_addr & 0xFFF));
}
}
return NULL;
return nullptr;
}
// FIXME: in-congruent function style see above
@ -221,9 +221,9 @@ void* RCInput_RPI::map_peripheral(uint32_t base, uint32_t len)
if (fd < 0) {
printf("Failed to open /dev/mem: %m\n");
return NULL;
return nullptr;
}
vaddr = mmap(NULL, len, PROT_READ|PROT_WRITE, MAP_SHARED, fd, base);
vaddr = mmap(nullptr, len, PROT_READ|PROT_WRITE, MAP_SHARED, fd, base);
if (vaddr == MAP_FAILED) {
printf("rpio-pwm: Failed to map peripheral at 0x%08x: %m\n", base);
}
@ -472,7 +472,7 @@ void RCInput_RPI::_timer_tick()
dma_cb_t* ad = (dma_cb_t*) con_blocks->get_virt_addr(dma_reg[RCIN_RPI_DMA_CONBLK_AD | RCIN_RPI_DMA_CHANNEL << 8]);
for(j = 1; j >= -1; j--){
x = circle_buffer->get_virt_addr((ad + j)->dst);
if(x != NULL) {
if(x != nullptr) {
break;}
}

2
libraries/AP_HAL_Linux/RCInput_SBUS.cpp
View File

@ -100,7 +100,7 @@ void RCInput_SBUS::_timer_tick(void)
// as VMIN is SBUS_FRAME_SIZE the select won't return unless there is
// at least SBUS_FRAME_SIZE bytes available
if (select(fd+1, &fds, NULL, NULL, &tv) != 1) {
if (select(fd+1, &fds, nullptr, nullptr, &tv) != 1) {
return;
}

4
libraries/AP_HAL_Linux/RCOutput_Bebop.cpp
View File

@ -301,7 +301,7 @@ void RCOutput_Bebop::init()
pthread_condattr_t cond_attr;
/* Initialize thread, cond, and mutex */
ret = pthread_mutex_init(&_mutex, NULL);
ret = pthread_mutex_init(&_mutex, nullptr);
if (ret != 0) {
perror("RCout_Bebop: failed to init mutex\n");
return;
@ -419,7 +419,7 @@ void* RCOutput_Bebop::_control_thread(void *arg) {
RCOutput_Bebop* rcout = (RCOutput_Bebop *) arg;
rcout->_run_rcout();
return NULL;
return nullptr;
}
void RCOutput_Bebop::_run_rcout()

2
libraries/AP_HAL_Linux/RCOutput_PCA9685.cpp
View File

@ -61,7 +61,7 @@ RCOutput_PCA9685::RCOutput_PCA9685(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
uint8_t channel_offset,
int16_t oe_pin_number) :
_dev(std::move(dev)),
_enable_pin(NULL),
_enable_pin(nullptr),
_frequency(50),
_pulses_buffer(new uint16_t[PWM_CHAN_COUNT - channel_offset]),
_external_clock(external_clock),

2
libraries/AP_HAL_Linux/RPIOUARTDriver.cpp
View File

@ -55,7 +55,7 @@ void RPIOUARTDriver::begin(uint32_t b, uint16_t rxS, uint16_t txS)
{
//hal.console->printf("[RPIOUARTDriver]: begin \n");
if (device_path != NULL) {
if (device_path != nullptr) {
UARTDriver::begin(b,rxS,txS);
if ( is_initialized()) {
_external = true;

6
libraries/AP_HAL_Linux/SPIUARTDriver.cpp
View File

@ -27,7 +27,7 @@ SPIUARTDriver::SPIUARTDriver()
void SPIUARTDriver::begin(uint32_t b, uint16_t rxS, uint16_t txS)
{
if (device_path != NULL) {
if (device_path != nullptr) {
UARTDriver::begin(b, rxS, txS);
if (is_initialized()) {
_external = true;
@ -52,10 +52,10 @@ void SPIUARTDriver::begin(uint32_t b, uint16_t rxS, uint16_t txS)
_readbuf.set_size(rxS);
_writebuf.set_size(txS);
if (_buffer == NULL) {
if (_buffer == nullptr) {
/* Do not allocate new buffer, if we're just changing speed */
_buffer = new uint8_t[rxS];
if (_buffer == NULL) {
if (_buffer == nullptr) {
hal.console->printf("Not enough memory\n");
AP_HAL::panic("Not enough memory\n");
}

2
libraries/AP_HAL_Linux/Scheduler.cpp
View File

@ -323,7 +323,7 @@ void Scheduler::_timer_task()
_timer_semaphore.give();
// and the failsafe, if one is setup
if (_failsafe != NULL) {
if (_failsafe != nullptr) {
_failsafe();
}

2
libraries/AP_HAL_Linux/Semaphores.h
View File

@ -11,7 +11,7 @@ namespace Linux {
class Semaphore : public AP_HAL::Semaphore {
public:
Semaphore() {
pthread_mutex_init(&_lock, NULL);
pthread_mutex_init(&_lock, nullptr);
}
bool give();
bool take(uint32_t timeout_ms);

20
libraries/AP_HAL_Linux/TCPServerDevice.cpp
View File

@ -18,15 +18,15 @@ TCPServerDevice::TCPServerDevice(const char *ip, uint16_t port, bool wait):
TCPServerDevice::~TCPServerDevice()
{
if (sock != NULL) {
if (sock != nullptr) {
delete sock;
sock = NULL;
sock = nullptr;
}
}
ssize_t TCPServerDevice::write(const uint8_t *buf, uint16_t n)
{
if (sock == NULL) {
if (sock == nullptr) {
return -1;
}
return sock->send(buf, n);
@ -38,20 +38,20 @@ ssize_t TCPServerDevice::write(const uint8_t *buf, uint16_t n)
*/
ssize_t TCPServerDevice::read(uint8_t *buf, uint16_t n)
{
if (sock == NULL) {
if (sock == nullptr) {
sock = listener.accept(0);
if (sock != NULL) {
if (sock != nullptr) {
sock->set_blocking(_blocking);
}
}
if (sock == NULL) {
if (sock == nullptr) {
return -1;
}
ssize_t ret = sock->recv(buf, n, 1);
if (ret == 0) {
// EOF, go back to waiting for a new connection
delete sock;
sock = NULL;
sock = nullptr;
return -1;
}
return ret;
@ -89,7 +89,7 @@ bool TCPServerDevice::open()
::printf("Waiting for connection on %s:%u ....\n",
_ip, (unsigned)_port);
::fflush(stdout);
while (sock == NULL) {
while (sock == nullptr) {
sock = listener.accept(1000);
}
sock->set_blocking(_blocking);
@ -102,9 +102,9 @@ bool TCPServerDevice::open()
bool TCPServerDevice::close()
{
if (sock != NULL) {
if (sock != nullptr) {
delete sock;
sock = NULL;
sock = nullptr;
}
return true;
}

2
libraries/AP_HAL_Linux/TCPServerDevice.h
View File

@ -17,7 +17,7 @@ public:
private:
SocketAPM listener{false};
SocketAPM *sock = NULL;
SocketAPM *sock = nullptr;
const char *_ip;
uint16_t _port;
bool _wait;

4
libraries/AP_HAL_Linux/ToneAlarm_Raspilot.cpp
View File

@ -73,7 +73,7 @@ bool ToneAlarm_Raspilot::init()
// mmap GPIO
void *pwm_map = mmap(
NULL, // Any adddress in our space will do
nullptr, // Any adddress in our space will do
BLOCK_SIZE, // Map length
PROT_READ|PROT_WRITE, // Enable reading & writting to mapped memory
MAP_SHARED, // Shared with other processes
@ -82,7 +82,7 @@ bool ToneAlarm_Raspilot::init()
);
void *clk_map = mmap(
NULL, // Any adddress in our space will do
nullptr, // Any adddress in our space will do
BLOCK_SIZE, // Map length
PROT_READ|PROT_WRITE, // Enable reading & writting to mapped memory
MAP_SHARED, // Shared with other processes

24
libraries/AP_HAL_Linux/UARTDriver.cpp
View File

@ -32,7 +32,7 @@ extern const AP_HAL::HAL& hal;
using namespace Linux;
UARTDriver::UARTDriver(bool default_console) :
device_path(NULL),
device_path(nullptr),
_packetise(false),
_device{new ConsoleDevice()}
{
@ -60,10 +60,10 @@ void UARTDriver::begin(uint32_t b)
void UARTDriver::begin(uint32_t b, uint16_t rxS, uint16_t txS)
{
if (!_initialised) {
if (device_path == NULL && _console) {
if (device_path == nullptr && _console) {
_device = new ConsoleDevice();
} else {
if (device_path == NULL) {
if (device_path == nullptr) {
return;
}
@ -139,38 +139,38 @@ AP_HAL::OwnPtr<SerialDevice> UARTDriver::_parseDevicePath(const char *arg)
char *devstr = strdup(arg);
if (devstr == NULL) {
if (devstr == nullptr) {
return nullptr;
}
char *saveptr = NULL;
char *saveptr = nullptr;
char *protocol, *ip, *port, *flag;
protocol = strtok_r(devstr, ":", &saveptr);
ip = strtok_r(NULL, ":", &saveptr);
port = strtok_r(NULL, ":", &saveptr);
flag = strtok_r(NULL, ":", &saveptr);
ip = strtok_r(nullptr, ":", &saveptr);
port = strtok_r(nullptr, ":", &saveptr);
flag = strtok_r(nullptr, ":", &saveptr);
if (ip == NULL || port == NULL) {
if (ip == nullptr || port == nullptr) {
free(devstr);
return nullptr;
}
if (_ip) {
free(_ip);
_ip = NULL;
_ip = nullptr;
}
if (_flag) {
free(_flag);
_flag = NULL;
_flag = nullptr;
}
_base_port = (uint16_t) atoi(port);
_ip = strdup(ip);
/* Optional flag for TCP */
if (flag != NULL) {
if (flag != nullptr) {
_flag = strdup(flag);
}

8
libraries/AP_HAL_Linux/Util.cpp
View File

@ -186,16 +186,16 @@ int Util::get_hw_arm32()
{
char buffer[MAX_SIZE_LINE] = { 0 };
FILE *f = fopen("/proc/cpuinfo", "r");
if (f == NULL) {
if (f == nullptr) {
return -errno;
}
while (fgets(buffer, MAX_SIZE_LINE, f) != NULL) {
if (strstr(buffer, "Hardware") == NULL) {
while (fgets(buffer, MAX_SIZE_LINE, f) != nullptr) {
if (strstr(buffer, "Hardware") == nullptr) {
continue;
}
for (uint8_t i = 0; i < UTIL_NUM_HARDWARES; i++) {
if (strstr(buffer, _hw_names[i]) == NULL) {
if (strstr(buffer, _hw_names[i]) == nullptr) {
continue;
}
fclose(f);

4
libraries/AP_HAL_Linux/Util.h
View File

@ -105,8 +105,8 @@ private:
Heat *_heat;
int saved_argc;
char* const *saved_argv;
const char* custom_log_directory = NULL;
const char* custom_terrain_directory = NULL;
const char* custom_log_directory = nullptr;
const char* custom_terrain_directory = nullptr;
static const char *_hw_names[UTIL_NUM_HARDWARES];
};

4
libraries/AP_HAL_Linux/VideoIn.cpp
View File

@ -67,7 +67,7 @@ bool VideoIn::open_device(const char *device_path, uint32_t memtype)
int ret;
_fd = -1;
_buffers = NULL;
_buffers = nullptr;
_fd = open(device_path, O_RDWR);
_memtype = memtype;
if (_fd < 0) {
@ -115,7 +115,7 @@ bool VideoIn::allocate_buffers(uint32_t nbufs)
}
buffers = (struct buffer *)malloc(rb.count * sizeof buffers[0]);
if (buffers == NULL) {
if (buffers == nullptr) {
hal.console->printf("Unable to allocate buffers\n");
return false;
}

4
libraries/AP_HAL_Linux/examples/GPIOTest/GPIOTest.cpp
View File

@ -25,7 +25,7 @@ int parse_gpio_pin_number(uint8_t argc, const Menu::arg *argv) {
}
static int8_t test_gpio_input(uint8_t argc, const Menu::arg *argv, bool use_channel) {
AP_HAL::DigitalSource *ch = NULL;
AP_HAL::DigitalSource *ch = nullptr;
int pin = parse_gpio_pin_number(argc, argv);
if (pin <= 0) return -1;
@ -46,7 +46,7 @@ static int8_t test_gpio_input(uint8_t argc, const Menu::arg *argv, bool use_chan
}
static int8_t test_gpio_output(uint8_t argc, const Menu::arg *argv, bool use_channel) {
AP_HAL::DigitalSource *ch = NULL;
AP_HAL::DigitalSource *ch = nullptr;
int pin = parse_gpio_pin_number(argc, argv);
if (pin <= 0) return -1;

6
libraries/AP_HAL_Linux/qflight/dsp_functions.cpp
View File

@ -129,7 +129,7 @@ static void *mpu_data_ready(void *ctx)
int ret = mpu9x50_get_data(&data);
if (ret != 0) {
return NULL;
return nullptr;
}
DSPBuffer::IMU::BUF b;
b.timestamp = data.timestamp;
@ -163,7 +163,7 @@ static void *mpu_data_ready(void *ctx)
}
}
return NULL;
return nullptr;
}
static void mpu9250_startup(void)
@ -172,7 +172,7 @@ static void mpu9250_startup(void)
if (init_mpu9250() != 0) {
return;
}
mpu9x50_register_interrupt(65, mpu_data_ready, NULL);
mpu9x50_register_interrupt(65, mpu_data_ready, nullptr);
}
}

12
libraries/AP_HAL_PX4/AnalogIn.cpp
View File

@ -257,7 +257,7 @@ void PX4AnalogIn::_timer_tick(void)
struct adc_msg_s buf_adc[PX4_ANALOG_MAX_CHANNELS];
// cope with initial setup of stop pin
if (_channels[_current_stop_pin_i] == NULL ||
if (_channels[_current_stop_pin_i] == nullptr ||
_channels[_current_stop_pin_i]->_stop_pin == -1) {
next_stop_pin();
}
@ -281,7 +281,7 @@ void PX4AnalogIn::_timer_tick(void)
(unsigned)buf_adc[i].am_data);
for (uint8_t j=0; j<PX4_ANALOG_MAX_CHANNELS; j++) {
PX4::PX4AnalogSource *c = _channels[j];
if (c != NULL && buf_adc[i].am_channel == c->_pin) {
if (c != nullptr && buf_adc[i].am_channel == c->_pin) {
// add a value if either there is no stop pin, or
// the stop pin has been settling for enough time
if (c->_stop_pin == -1 ||
@ -308,7 +308,7 @@ void PX4AnalogIn::_timer_tick(void)
_battery_timestamp = battery.timestamp;
for (uint8_t j=0; j<PX4_ANALOG_MAX_CHANNELS; j++) {
PX4::PX4AnalogSource *c = _channels[j];
if (c == NULL) continue;
if (c == nullptr) continue;
if (c->_pin == PX4_ANALOG_ORB_BATTERY_VOLTAGE_PIN) {
c->_add_value(battery.voltage_v / PX4_VOLTAGE_SCALING, 0);
}
@ -335,7 +335,7 @@ void PX4AnalogIn::_timer_tick(void)
_servorail_voltage = servorail.voltage_v;
for (uint8_t j=0; j<PX4_ANALOG_MAX_CHANNELS; j++) {
PX4::PX4AnalogSource *c = _channels[j];
if (c == NULL) continue;
if (c == nullptr) continue;
if (c->_pin == PX4_ANALOG_ORB_SERVO_VOLTAGE_PIN) {
c->_add_value(servorail.voltage_v / PX4_VOLTAGE_SCALING, 0);
}
@ -373,13 +373,13 @@ void PX4AnalogIn::_timer_tick(void)
AP_HAL::AnalogSource* PX4AnalogIn::channel(int16_t pin)
{
for (uint8_t j=0; j<PX4_ANALOG_MAX_CHANNELS; j++) {
if (_channels[j] == NULL) {
if (_channels[j] == nullptr) {
_channels[j] = new PX4AnalogSource(pin, 0.0f);
return _channels[j];
}
}
hal.console->println("Out of analog channels");
return NULL;
return nullptr;
}
#endif // CONFIG_HAL_BOARD

6
libraries/AP_HAL_PX4/HAL_PX4_Class.cpp
View File

@ -91,7 +91,7 @@ HAL_PX4::HAL_PX4() :
&rcoutDriver, /* rcoutput */
&schedulerInstance, /* scheduler */
&utilInstance, /* util */
NULL) /* no onboard optical flow */
nullptr) /* no onboard optical flow */
{}
bool _px4_thread_should_exit = false; /**< Daemon exit flag */
@ -170,7 +170,7 @@ static int main_loop(int argc, char **argv)
will only ever be called if a loop() call runs for more than
0.1 second
*/
hrt_call_after(&loop_overtime_call, 100000, (hrt_callout)loop_overtime, NULL);
hrt_call_after(&loop_overtime_call, 100000, (hrt_callout)loop_overtime, nullptr);
g_callbacks->loop();
@ -248,7 +248,7 @@ void HAL_PX4::run(int argc, char * const argv[], Callbacks* callbacks) const
APM_MAIN_PRIORITY,
APM_MAIN_THREAD_STACK_SIZE,
main_loop,
NULL);
nullptr);
exit(0);
}

2
libraries/AP_HAL_PX4/NSHShellStream.cpp
View File

@ -31,7 +31,7 @@ void NSHShellStream::shell_thread(void *arg)
dup2(nsh->child.out, 1);
dup2(nsh->child.out, 2);
nsh_consolemain(0, NULL);
nsh_consolemain(0, nullptr);
nsh->shell_stdin = -1;
nsh->shell_stdout = -1;

2
libraries/AP_HAL_PX4/RCInput.cpp
View File

@ -20,7 +20,7 @@ void PX4RCInput::init()
AP_HAL::panic("Unable to subscribe to input_rc");
}
clear_overrides();
pthread_mutex_init(&rcin_mutex, NULL);
pthread_mutex_init(&rcin_mutex, nullptr);
}
bool PX4RCInput::new_input()

8
libraries/AP_HAL_PX4/RCOutput.cpp
View File

@ -71,10 +71,10 @@ void PX4RCOutput::init()
}
// publish actuator vaules on demand
_actuator_direct_pub = NULL;
_actuator_direct_pub = nullptr;
// and armed state
_actuator_armed_pub = NULL;
_actuator_armed_pub = nullptr;
}
@ -391,7 +391,7 @@ void PX4RCOutput::_arm_actuators(bool arm)
_armed.lockdown = false;
_armed.force_failsafe = false;
if (_actuator_armed_pub == NULL) {
if (_actuator_armed_pub == nullptr) {
_actuator_armed_pub = orb_advertise(ORB_ID(actuator_armed), &_armed);
} else {
orb_publish(ORB_ID(actuator_armed), _actuator_armed_pub, &_armed);
@ -433,7 +433,7 @@ void PX4RCOutput::_publish_actuators(void)
actuators.values[i] = actuators.values[i]*2 - 1;
}
if (_actuator_direct_pub == NULL) {
if (_actuator_direct_pub == nullptr) {
_actuator_direct_pub = orb_advertise(ORB_ID(actuator_direct), &actuators);
} else {
orb_publish(ORB_ID(actuator_direct), _actuator_direct_pub, &actuators);

4
libraries/AP_HAL_PX4/RCOutput.h
View File

@ -58,8 +58,8 @@ private:
} _outputs[ORB_MULTI_MAX_INSTANCES] {};
actuator_armed_s _armed;
orb_advert_t _actuator_direct_pub = NULL;
orb_advert_t _actuator_armed_pub = NULL;
orb_advert_t _actuator_direct_pub = nullptr;
orb_advert_t _actuator_armed_pub = nullptr;
uint16_t _esc_pwm_min = 0;
uint16_t _esc_pwm_max = 0;

24
libraries/AP_HAL_PX4/Scheduler.cpp
View File

@ -133,7 +133,7 @@ void PX4Scheduler::delay_microseconds_boost(uint16_t usec)
sem_init(&wait_semaphore, 0, 0);
hrt_call_after(&wait_call, usec, (hrt_callout)sem_post_boost, &wait_semaphore);
sem_wait(&wait_semaphore);
hrt_call_after(&wait_call, APM_MAIN_PRIORITY_BOOST_USEC, (hrt_callout)set_normal_priority, NULL);
hrt_call_after(&wait_call, APM_MAIN_PRIORITY_BOOST_USEC, (hrt_callout)set_normal_priority, nullptr);
}
void PX4Scheduler::delay(uint16_t ms)
@ -249,7 +249,7 @@ void PX4Scheduler::_run_timers(bool called_from_timer_thread)
}
// and the failsafe, if one is setup
if (_failsafe != NULL) {
if (_failsafe != nullptr) {
_failsafe();
}
@ -267,7 +267,7 @@ void *PX4Scheduler::_timer_thread(void *arg)
uint32_t last_ran_overtime = 0;
while (!sched->_hal_initialized) {
poll(NULL, 0, 1);
poll(nullptr, 0, 1);
}
while (!_px4_thread_should_exit) {
sched->delay_microseconds_semaphore(1000);
@ -291,7 +291,7 @@ void *PX4Scheduler::_timer_thread(void *arg)
#endif
}
}
return NULL;
return nullptr;
}
void PX4Scheduler::_run_io(void)
@ -318,7 +318,7 @@ void *PX4Scheduler::_uart_thread(void *arg)
PX4Scheduler *sched = (PX4Scheduler *)arg;
while (!sched->_hal_initialized) {
poll(NULL, 0, 1);
poll(nullptr, 0, 1);
}
while (!_px4_thread_should_exit) {
sched->delay_microseconds_semaphore(1000);
@ -331,7 +331,7 @@ void *PX4Scheduler::_uart_thread(void *arg)
((PX4UARTDriver *)hal.uartE)->_timer_tick();
((PX4UARTDriver *)hal.uartF)->_timer_tick();
}
return NULL;
return nullptr;
}
void *PX4Scheduler::_io_thread(void *arg)
@ -339,17 +339,17 @@ void *PX4Scheduler::_io_thread(void *arg)
PX4Scheduler *sched = (PX4Scheduler *)arg;
while (!sched->_hal_initialized) {
poll(NULL, 0, 1);
poll(nullptr, 0, 1);
}
while (!_px4_thread_should_exit) {
poll(NULL, 0, 1);
poll(nullptr, 0, 1);
// run registered IO processes
perf_begin(sched->_perf_io_timers);
sched->_run_io();
perf_end(sched->_perf_io_timers);
}
return NULL;
return nullptr;
}
void *PX4Scheduler::_storage_thread(void *arg)
@ -357,17 +357,17 @@ void *PX4Scheduler::_storage_thread(void *arg)
PX4Scheduler *sched = (PX4Scheduler *)arg;
while (!sched->_hal_initialized) {
poll(NULL, 0, 1);
poll(nullptr, 0, 1);
}
while (!_px4_thread_should_exit) {
poll(NULL, 0, 10);
poll(nullptr, 0, 10);
// process any pending storage writes
perf_begin(sched->_perf_storage_timer);
((PX4Storage *)hal.storage)->_timer_tick();
perf_end(sched->_perf_storage_timer);
}
return NULL;
return nullptr;
}
bool PX4Scheduler::in_timerprocess()

2
libraries/AP_HAL_PX4/Semaphores.h
View File

@ -9,7 +9,7 @@
class PX4::Semaphore : public AP_HAL::Semaphore {
public:
Semaphore() {
pthread_mutex_init(&_lock, NULL);
pthread_mutex_init(&_lock, nullptr);
}
bool give();
bool take(uint32_t timeout_ms);

4
libraries/AP_HAL_PX4/Util.cpp
View File

@ -61,7 +61,7 @@ bool PX4Util::run_debug_shell(AP_HAL::BetterStream *stream)
dup2(fd, 1);
dup2(fd, 2);
nsh_consolemain(0, NULL);
nsh_consolemain(0, nullptr);
// this shouldn't happen
hal.console->printf("shell exited\n");
@ -152,7 +152,7 @@ PX4Util::perf_counter_t PX4Util::perf_alloc(PX4Util::perf_counter_type t, const
px4_t = ::PC_INTERVAL;
break;
default:
return NULL;
return nullptr;
}
return (perf_counter_t)::perf_alloc(px4_t, name);
}

4
libraries/AP_HAL_QURT/HAL_QURT_Class.cpp
View File

@ -55,7 +55,7 @@ HAL_QURT::HAL_QURT() :
&uartCDriver,
&uartDDriver,
&uartEDriver,
NULL, // uartF
nullptr, // uartF
&i2c_mgr_instance,
&spiDeviceManager,
&analogIn,
@ -66,7 +66,7 @@ HAL_QURT::HAL_QURT() :
&rcoutDriver,
&schedulerInstance,
&utilInstance,
NULL)
nullptr)
{
}

8
libraries/AP_HAL_QURT/Scheduler.cpp
View File

@ -171,7 +171,7 @@ void Scheduler::_run_timers(bool called_from_timer_thread)
}
// and the failsafe, if one is setup
if (_failsafe != NULL) {
if (_failsafe != nullptr) {
_failsafe();
}
@ -203,7 +203,7 @@ void *Scheduler::_timer_thread(void *arg)
hal.console->printf("Overtime in task %d\n", (int)AP_Scheduler::current_task);
}
}
return NULL;
return nullptr;
}
void Scheduler::_run_io(void)
@ -242,7 +242,7 @@ void *Scheduler::_uart_thread(void *arg)
((UARTDriver *)hal.uartD)->timer_tick();
((UARTDriver *)hal.uartE)->timer_tick();
}
return NULL;
return nullptr;
}
void *Scheduler::_io_thread(void *arg)
@ -258,7 +258,7 @@ void *Scheduler::_io_thread(void *arg)
// run registered IO processes
sched->_run_io();
}
return NULL;
return nullptr;
}
bool Scheduler::in_timerprocess()

2
libraries/AP_HAL_QURT/Semaphores.h
View File

@ -9,7 +9,7 @@
class QURT::Semaphore : public AP_HAL::Semaphore {
public:
Semaphore() {
pthread_mutex_init(&_lock, NULL);
pthread_mutex_init(&_lock, nullptr);
}
bool give();
bool take(uint32_t timeout_ms);

2
libraries/AP_HAL_QURT/dsp_main.cpp
View File

@ -41,7 +41,7 @@ static void *main_thread(void *cmdptr)
argv[argc] = nullptr;
ArduPilot_main(argc, argv);
return NULL;
return nullptr;
}

40
libraries/AP_HAL_QURT/mainapp/getifaddrs.cpp
View File

@ -35,7 +35,7 @@
void freeifaddrs(struct ifaddrs *ifp)
{
if (ifp != NULL) {
if (ifp != nullptr) {
free(ifp->ifa_name);
free(ifp->ifa_addr);
free(ifp->ifa_netmask);
@ -51,8 +51,8 @@ static struct sockaddr *sockaddr_dup(struct sockaddr *sa)
socklen_t socklen;
socklen = sizeof(struct sockaddr_storage);
ret = (struct sockaddr *)calloc(1, socklen);
if (ret == NULL)
return NULL;
if (ret == nullptr)
return nullptr;
memcpy(ret, sa, socklen);
return ret;
}
@ -67,11 +67,11 @@ int getifaddrs(struct ifaddrs **ifap)
struct ifconf ifc;
char buff[8192];
int fd, i, n;
struct ifreq *ifr=NULL;
struct ifreq *ifr=nullptr;
struct ifaddrs *curif;
struct ifaddrs *lastif = NULL;
struct ifaddrs *lastif = nullptr;
*ifap = NULL;
*ifap = nullptr;
if ((fd = socket(AF_INET, SOCK_DGRAM, 0)) == -1) {
return -1;
@ -98,27 +98,27 @@ int getifaddrs(struct ifaddrs **ifap)
}
curif = (struct ifaddrs *)calloc(1, sizeof(struct ifaddrs));
if (curif == NULL) {
if (curif == nullptr) {
freeifaddrs(*ifap);
close(fd);
return -1;
}
curif->ifa_name = strdup(ifr[i].ifr_name);
if (curif->ifa_name == NULL) {
if (curif->ifa_name == nullptr) {
free(curif);
freeifaddrs(*ifap);
close(fd);
return -1;
}
curif->ifa_flags = ifr[i].ifr_flags;
curif->ifa_dstaddr = NULL;
curif->ifa_data = NULL;
curif->ifa_next = NULL;
curif->ifa_dstaddr = nullptr;
curif->ifa_data = nullptr;
curif->ifa_next = nullptr;
curif->ifa_addr = NULL;
curif->ifa_addr = nullptr;
if (ioctl(fd, SIOCGIFADDR, &ifr[i]) != -1) {
curif->ifa_addr = sockaddr_dup(&ifr[i].ifr_addr);
if (curif->ifa_addr == NULL) {
if (curif->ifa_addr == nullptr) {
free(curif->ifa_name);
free(curif);
freeifaddrs(*ifap);
@ -127,11 +127,11 @@ int getifaddrs(struct ifaddrs **ifap)
}
}
curif->ifa_netmask = NULL;
curif->ifa_netmask = nullptr;
if (ioctl(fd, SIOCGIFNETMASK, &ifr[i]) != -1) {
curif->ifa_netmask = sockaddr_dup(&ifr[i].ifr_addr);
if (curif->ifa_netmask == NULL) {
if (curif->ifa_addr != NULL) {
if (curif->ifa_netmask == nullptr) {
if (curif->ifa_addr != nullptr) {
free(curif->ifa_addr);
}
free(curif->ifa_name);
@ -142,7 +142,7 @@ int getifaddrs(struct ifaddrs **ifap)
}
}
if (lastif == NULL) {
if (lastif == nullptr) {
*ifap = curif;
} else {
lastif->ifa_next = curif;
@ -157,9 +157,9 @@ int getifaddrs(struct ifaddrs **ifap)
const char *get_ipv4_broadcast(void)
{
struct ifaddrs *ifap = NULL;
struct ifaddrs *ifap = nullptr;
if (getifaddrs(&ifap) != 0) {
return NULL;
return nullptr;
}
struct ifaddrs *ia;
for (ia=ifap; ia; ia=ia->ifa_next) {
@ -175,7 +175,7 @@ const char *get_ipv4_broadcast(void)
return ret;
}
freeifaddrs(ifap);
return NULL;
return nullptr;
}
#ifdef MAIN_PROGRAM

6
libraries/AP_HAL_QURT/mainapp/mainapp.cpp
View File

@ -84,7 +84,7 @@ static void get_storage(void)
*/
static void socket_check(void)
{
static const char *bcast = NULL;
static const char *bcast = nullptr;
uint8_t buf[300];
ssize_t ret = sock.recv(buf, sizeof(buf), 0);
if (ret > 0) {
@ -102,9 +102,9 @@ static void socket_check(void)
}
}
uint32_t nbytes;
if (bcast == NULL) {
if (bcast == nullptr) {
bcast = get_ipv4_broadcast();
if (bcast == NULL) {
if (bcast == nullptr) {
bcast = "255.255.255.255";
}
printf("Broadcasting to %s\n", bcast);

4
libraries/AP_HAL_QURT/replace.cpp
View File

@ -46,7 +46,7 @@ int vasprintf(char **ptr, const char *format, va_list ap)
va_list ap2;
va_copy(ap2, ap);
ret = vsnprintf(NULL, 0, format, ap2);
ret = vsnprintf(nullptr, 0, format, ap2);
va_end(ap2);
if (ret < 0) return ret;
@ -65,7 +65,7 @@ int asprintf(char **ptr, const char *format, ...)
va_list ap;
int ret;
*ptr = NULL;
*ptr = nullptr;
va_start(ap, format);
ret = vasprintf(ptr, format, ap);
va_end(ap);

18
libraries/AP_HAL_SITL/SITL_State.cpp
View File

@ -27,15 +27,15 @@ void SITL_State::_set_param_default(const char *parm)
{
char *pdup = strdup(parm);
char *p = strchr(pdup, '=');
if (p == NULL) {
if (p == nullptr) {
printf("Please specify parameter as NAME=VALUE");
exit(1);
}
float value = strtof(p+1, NULL);
float value = strtof(p+1, nullptr);
*p = 0;
enum ap_var_type var_type;
AP_Param *vp = AP_Param::find(pdup, &var_type);
if (vp == NULL) {
if (vp == nullptr) {
printf("Unknown parameter %s\n", pdup);
exit(1);
}
@ -85,7 +85,7 @@ void SITL_State::_sitl_setup(const char *home_str)
#endif
_optical_flow = (OpticalFlow *)AP_Param::find_object("FLOW");
if (_sitl != NULL) {
if (_sitl != nullptr) {
// setup some initial values
#ifndef HIL_MODE
_update_barometer(100);
@ -137,7 +137,7 @@ void SITL_State::_fdm_input_step(void)
exit(1);
}
if (_scheduler->interrupts_are_blocked() || _sitl == NULL) {
if (_scheduler->interrupts_are_blocked() || _sitl == nullptr) {
return;
}
@ -149,7 +149,7 @@ void SITL_State::_fdm_input_step(void)
_scheduler->sitl_begin_atomic();
if (_update_count == 0 && _sitl != NULL) {
if (_update_count == 0 && _sitl != nullptr) {
_update_gps(0, 0, 0, 0, 0, 0, false);
_update_barometer(0);
_scheduler->timer_event();
@ -157,7 +157,7 @@ void SITL_State::_fdm_input_step(void)
return;
}
if (_sitl != NULL) {
if (_sitl != nullptr) {
_update_gps(_sitl->state.latitude, _sitl->state.longitude,
_sitl->state.altitude,
_sitl->state.speedN, _sitl->state.speedE, _sitl->state.speedD,
@ -288,10 +288,10 @@ void SITL_State::_fdm_input_local(void)
}
}
if (gimbal != NULL) {
if (gimbal != nullptr) {
gimbal->update();
}
if (adsb != NULL) {
if (adsb != nullptr) {
adsb->update();
}

8
libraries/AP_HAL_SITL/SITL_cmdline.cpp
View File

@ -113,8 +113,8 @@ void SITL_State::_parse_command_line(int argc, char * const argv[])
int opt;
// default to CMAC
const char *home_str = "-35.363261,149.165230,584,353";
const char *model_str = NULL;
char *autotest_dir = NULL;
const char *model_str = nullptr;
char *autotest_dir = nullptr;
float speedup = 1.0f;
if (asprintf(&autotest_dir, SKETCHBOOK "/Tools/autotest") <= 0) {
@ -131,7 +131,7 @@ void SITL_State::_parse_command_line(int argc, char * const argv[])
_rcout_port = 5502;
_simin_port = 5501;
_fdm_address = "127.0.0.1";
_client_address = NULL;
_client_address = nullptr;
_instance = 0;
enum long_options {
@ -211,7 +211,7 @@ void SITL_State::_parse_command_line(int argc, char * const argv[])
model_str = gopt.optarg;
break;
case 's':
speedup = strtof(gopt.optarg, NULL);
speedup = strtof(gopt.optarg, nullptr);
break;
case 'F':
_fdm_address = gopt.optarg;

12
libraries/AP_HAL_SITL/Scheduler.cpp
View File

@ -13,15 +13,15 @@ using namespace HALSITL;
extern const AP_HAL::HAL& hal;
AP_HAL::Proc Scheduler::_failsafe = NULL;
AP_HAL::Proc Scheduler::_failsafe = nullptr;
volatile bool Scheduler::_timer_suspended = false;
volatile bool Scheduler::_timer_event_missed = false;
AP_HAL::MemberProc Scheduler::_timer_proc[SITL_SCHEDULER_MAX_TIMER_PROCS] = {NULL};
AP_HAL::MemberProc Scheduler::_timer_proc[SITL_SCHEDULER_MAX_TIMER_PROCS] = {nullptr};
uint8_t Scheduler::_num_timer_procs = 0;
bool Scheduler::_in_timer_proc = false;
AP_HAL::MemberProc Scheduler::_io_proc[SITL_SCHEDULER_MAX_TIMER_PROCS] = {NULL};
AP_HAL::MemberProc Scheduler::_io_proc[SITL_SCHEDULER_MAX_TIMER_PROCS] = {nullptr};
uint8_t Scheduler::_num_io_procs = 0;
bool Scheduler::_in_io_proc = false;
@ -129,7 +129,7 @@ void Scheduler::system_initialized() {
// i386 with gcc doesn't work with FE_INVALID
exceptions |= FE_INVALID;
#endif
if (_sitlState->_sitl == NULL || _sitlState->_sitl->float_exception) {
if (_sitlState->_sitl == nullptr || _sitlState->_sitl->float_exception) {
feenableexcept(exceptions);
} else {
feclearexcept(exceptions);
@ -162,7 +162,7 @@ void Scheduler::_run_timer_procs(bool called_from_isr)
// need be. We assume the failsafe code can't
// block. If it does then we will recurse and die when
// we run out of stack
if (_failsafe != NULL) {
if (_failsafe != nullptr) {
_failsafe();
}
return;
@ -181,7 +181,7 @@ void Scheduler::_run_timer_procs(bool called_from_isr)
}
// and the failsafe, if one is setup
if (_failsafe != NULL) {
if (_failsafe != nullptr) {
_failsafe();
}

2
libraries/AP_HAL_SITL/Semaphores.h
View File

@ -9,7 +9,7 @@
class HALSITL::Semaphore : public AP_HAL::Semaphore {
public:
Semaphore() {
pthread_mutex_init(&_lock, NULL);
pthread_mutex_init(&_lock, nullptr);
}
bool give();
bool take(uint32_t timeout_ms);

14
libraries/AP_HAL_SITL/UARTDriver.cpp
View File

@ -67,17 +67,17 @@ void UARTDriver::begin(uint32_t baud, uint16_t rxSpace, uint16_t txSpace)
tcpclient:192.168.2.15:5762
uart:/dev/ttyUSB0:57600
*/
char *saveptr = NULL;
char *saveptr = nullptr;
char *s = strdup(path);
char *devtype = strtok_r(s, ":", &saveptr);
char *args1 = strtok_r(NULL, ":", &saveptr);
char *args2 = strtok_r(NULL, ":", &saveptr);
char *args1 = strtok_r(nullptr, ":", &saveptr);
char *args2 = strtok_r(nullptr, ":", &saveptr);
if (strcmp(devtype, "tcp") == 0) {
uint16_t port = atoi(args1);
bool wait = (args2 && strcmp(args2, "wait") == 0);
_tcp_start_connection(port, wait);
} else if (strcmp(devtype, "tcpclient") == 0) {
if (args2 == NULL) {
if (args2 == nullptr) {
AP_HAL::panic("Invalid tcp client path: %s", path);
}
uint16_t port = atoi(args2);
@ -234,7 +234,7 @@ void UARTDriver::_tcp_start_connection(uint16_t port, bool wait_for_connection)
if (wait_for_connection) {
fprintf(stdout, "Waiting for connection ....\n");
fflush(stdout);
_fd = accept(_listen_fd, NULL, NULL);
_fd = accept(_listen_fd, nullptr, nullptr);
if (_fd == -1) {
fprintf(stderr, "accept() error - %s", strerror(errno));
exit(1);
@ -353,7 +353,7 @@ void UARTDriver::_check_connection(void)
return;
}
if (_select_check(_listen_fd)) {
_fd = accept(_listen_fd, NULL, NULL);
_fd = accept(_listen_fd, nullptr, nullptr);
if (_fd != -1) {
int one = 1;
_connected = true;
@ -382,7 +382,7 @@ bool UARTDriver::_select_check(int fd)
tv.tv_sec = 0;
tv.tv_usec = 0;
if (select(fd+1, &fds, NULL, NULL, &tv) == 1) {
if (select(fd+1, &fds, nullptr, nullptr, &tv) == 1) {
return true;
}
return false;

2
libraries/AP_HAL_SITL/sitl_barometer.cpp
View File

@ -33,7 +33,7 @@ void SITL_State::_update_barometer(float altitude)
float sim_alt = altitude;
if (_barometer == NULL) {
if (_barometer == nullptr) {
// this sketch doesn't use a barometer
return;
}

2
libraries/AP_HAL_SITL/sitl_compass.cpp
View File

@ -30,7 +30,7 @@ void SITL_State::_update_compass(float rollDeg, float pitchDeg, float yawDeg)
{
static uint32_t last_update;
if (_compass == NULL) {
if (_compass == nullptr) {
// no compass in this sketch
return;
}

4
libraries/AP_HAL_SITL/sitl_gps.cpp
View File

@ -134,7 +134,7 @@ static void simulation_timeval(struct timeval *tv)
static struct timeval first_tv;
if (first_usec == 0) {
first_usec = now;
gettimeofday(&first_tv, NULL);
gettimeofday(&first_tv, nullptr);
}
*tv = first_tv;
tv->tv_sec += now / 1000000ULL;
@ -522,7 +522,7 @@ uint16_t SITL_State::_gps_nmea_checksum(const char *s)
*/
void SITL_State::_gps_nmea_printf(const char *fmt, ...)
{
char *s = NULL;
char *s = nullptr;
uint16_t csum;
char trailer[6];

2
libraries/AP_HAL_SITL/sitl_ins.cpp
View File

@ -154,7 +154,7 @@ void SITL_State::_update_ins(float roll, float pitch, float yaw, // Relative
double xAccel, double yAccel, double zAccel, // Local to plane
float airspeed, float altitude)
{
if (_ins == NULL) {
if (_ins == nullptr) {
// no inertial sensor in this sketch
return;
}

6
libraries/AP_HAL_SITL/system.cpp
View File

@ -18,7 +18,7 @@ static struct {
void init()
{
gettimeofday(&state.start_time, NULL);
gettimeofday(&state.start_time, nullptr);
}
void panic(const char *errormsg, ...)
@ -52,7 +52,7 @@ uint64_t micros64()
}
struct timeval tp;
gettimeofday(&tp, NULL);
gettimeofday(&tp, nullptr);
uint64_t ret = 1.0e6 * ((tp.tv_sec + (tp.tv_usec * 1.0e-6)) -
(state.start_time.tv_sec +
(state.start_time.tv_usec * 1.0e-6)));
@ -68,7 +68,7 @@ uint64_t millis64()
}
struct timeval tp;
gettimeofday(&tp, NULL);
gettimeofday(&tp, nullptr);
uint64_t ret = 1.0e3*((tp.tv_sec + (tp.tv_usec*1.0e-6)) -
(state.start_time.tv_sec +
(state.start_time.tv_usec*1.0e-6)));

8
libraries/AP_HAL_VRBRAIN/AnalogIn.cpp
View File

@ -248,7 +248,7 @@ void VRBRAINAnalogIn::_timer_tick(void)
struct adc_msg_s buf_adc[VRBRAIN_ANALOG_MAX_CHANNELS];
// cope with initial setup of stop pin
if (_channels[_current_stop_pin_i] == NULL ||
if (_channels[_current_stop_pin_i] == nullptr ||
_channels[_current_stop_pin_i]->_stop_pin == -1) {
next_stop_pin();
}
@ -263,7 +263,7 @@ void VRBRAINAnalogIn::_timer_tick(void)
(unsigned)buf_adc[i].am_data);
for (uint8_t j=0; j<VRBRAIN_ANALOG_MAX_CHANNELS; j++) {
VRBRAIN::VRBRAINAnalogSource *c = _channels[j];
if (c != NULL && buf_adc[i].am_channel == c->_pin) {
if (c != nullptr && buf_adc[i].am_channel == c->_pin) {
// add a value if either there is no stop pin, or
// the stop pin has been settling for enough time
if (c->_stop_pin == -1 ||
@ -284,13 +284,13 @@ void VRBRAINAnalogIn::_timer_tick(void)
AP_HAL::AnalogSource* VRBRAINAnalogIn::channel(int16_t pin)
{
for (uint8_t j=0; j<VRBRAIN_ANALOG_MAX_CHANNELS; j++) {
if (_channels[j] == NULL) {
if (_channels[j] == nullptr) {
_channels[j] = new VRBRAINAnalogSource(pin, 0.0f);
return _channels[j];
}
}
hal.console->println("Out of analog channels");
return NULL;
return nullptr;
}
#endif // CONFIG_HAL_BOARD

6
libraries/AP_HAL_VRBRAIN/HAL_VRBRAIN_Class.cpp
View File

@ -126,7 +126,7 @@ HAL_VRBRAIN::HAL_VRBRAIN() :
&rcoutDriver, /* rcoutput */
&schedulerInstance, /* scheduler */
&utilInstance, /* util */
NULL) /* no onboard optical flow */
nullptr) /* no onboard optical flow */
{}
bool _vrbrain_thread_should_exit = false; /**< Daemon exit flag */
@ -205,7 +205,7 @@ static int main_loop(int argc, char **argv)
will only ever be called if a loop() call runs for more than
0.1 second
*/
hrt_call_after(&loop_overtime_call, 100000, (hrt_callout)loop_overtime, NULL);
hrt_call_after(&loop_overtime_call, 100000, (hrt_callout)loop_overtime, nullptr);
g_callbacks->loop();
@ -283,7 +283,7 @@ void HAL_VRBRAIN::run(int argc, char * const argv[], Callbacks* callbacks) const
APM_MAIN_PRIORITY,
APM_MAIN_THREAD_STACK_SIZE,
main_loop,
NULL);
nullptr);
exit(0);
}

2
libraries/AP_HAL_VRBRAIN/NSHShellStream.cpp
View File

@ -31,7 +31,7 @@ void NSHShellStream::shell_thread(void *arg)
dup2(nsh->child.out, 1);
dup2(nsh->child.out, 2);
nsh_consolemain(0, NULL);
nsh_consolemain(0, nullptr);
nsh->shell_stdin = -1;
nsh->shell_stdout = -1;

2
libraries/AP_HAL_VRBRAIN/RCInput.cpp
View File

@ -20,7 +20,7 @@ void VRBRAINRCInput::init()
AP_HAL::panic("Unable to subscribe to input_rc");
}
clear_overrides();
pthread_mutex_init(&rcin_mutex, NULL);
pthread_mutex_init(&rcin_mutex, nullptr);
}
bool VRBRAINRCInput::new_input()

8
libraries/AP_HAL_VRBRAIN/RCOutput.cpp
View File

@ -67,10 +67,10 @@ void VRBRAINRCOutput::init()
}
// publish actuator vaules on demand
_actuator_direct_pub = NULL;
_actuator_direct_pub = nullptr;
// and armed state
_actuator_armed_pub = NULL;
_actuator_armed_pub = nullptr;
}
@ -390,7 +390,7 @@ void VRBRAINRCOutput::_arm_actuators(bool arm)
_armed.lockdown = false;
_armed.force_failsafe = false;
if (_actuator_armed_pub == NULL) {
if (_actuator_armed_pub == nullptr) {
_actuator_armed_pub = orb_advertise(ORB_ID(actuator_armed), &_armed);
} else {
orb_publish(ORB_ID(actuator_armed), _actuator_armed_pub, &_armed);
@ -432,7 +432,7 @@ void VRBRAINRCOutput::_publish_actuators(void)
actuators.values[i] = actuators.values[i]*2 - 1;
}
if (_actuator_direct_pub == NULL) {
if (_actuator_direct_pub == nullptr) {
_actuator_direct_pub = orb_advertise(ORB_ID(actuator_direct), &actuators);
} else {
orb_publish(ORB_ID(actuator_direct), _actuator_direct_pub, &actuators);

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