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px4-firmware
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fix init of published structs

This commit is contained in:
Thomas Gubler 2014-12-25 12:51:38 +01:00
parent a93362c700
commit 195472fddf
2 changed files with 16 additions and 4 deletions
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8
src/modules/mc_att_control/mc_att_control_base.cpp
View File

@ -58,8 +58,8 @@ MulticopterAttitudeControlBase::MulticopterAttitudeControlBase() :
_publish_att_sp(false)
{
memset(&_v_rates_sp, 0, sizeof(_v_att_sp_mod));
memset(&_v_rates_sp, 0, sizeof(_v_rates_sp_mod));
memset(&_v_att_sp_mod, 0, sizeof(_v_att_sp_mod));
memset(&_v_rates_sp_mod, 0, sizeof(_v_rates_sp_mod));
memset(&_actuators, 0, sizeof(_actuators));
_params.att_p.zero();
@ -98,7 +98,7 @@ void MulticopterAttitudeControlBase::control_attitude(float dt)
if (_v_control_mode->get().flag_control_velocity_enabled
|| _v_control_mode->get().flag_control_climb_rate_enabled) {
/* in assisted modes poll 'vehicle_attitude_setpoint' topic and modify it */
_v_att_sp_mod = _v_att_sp->get();
memcpy(&_v_att_sp_mod, _v_att_sp->get_void_ptr(), sizeof(_v_att_sp_mod));
}
if (!_v_control_mode->get().flag_control_climb_rate_enabled) {
@ -157,7 +157,7 @@ void MulticopterAttitudeControlBase::control_attitude(float dt)
} else {
/* in non-manual mode use 'vehicle_attitude_setpoint' topic */
_v_att_sp_mod = _v_att_sp->get();
memcpy(&_v_att_sp_mod, _v_att_sp->get_void_ptr(), sizeof(_v_att_sp_mod));
/* reset yaw setpoint after non-manual control mode */
_reset_yaw_sp = true;

12
src/platforms/px4_subscriber.h
View File

@ -80,6 +80,10 @@ public:
* Get the last message value
*/
virtual const M& get() = 0;
/**
* Get void pointer to last message value
*/
virtual void * get_void_ptr() = 0;
};
#if defined(__linux) || (defined(__APPLE__) && defined(__MACH__))
@ -121,6 +125,10 @@ public:
* Get the last message value
*/
const M& get() { return _msg_current; }
/**
* Get void pointer to last message value
*/
void * get_void_ptr() { return (void*)&_msg_current; }
protected:
/**
@ -197,6 +205,10 @@ public:
* Get the last message value
*/
const M& get() { return uORB::Subscription<M>::getData(); }
/**
* Get void pointer to last message value
*/
void * get_void_ptr() { return uORB::Subscription<M>::getDataVoidPtr(); }
};
template<typename M>