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px4-firmware
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MAVLink: Use valid flag to initialize fields

This commit is contained in:
Lorenz Meier 2016-05-15 15:38:01 +02:00
parent 7633797190
commit 55c879a0ab
2 changed files with 12 additions and 13 deletions
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23
src/modules/mavlink/mavlink_messages.cpp
View File

@ -592,9 +592,9 @@ protected:
void send(const hrt_abstime t)
{
struct vehicle_status_s status;
struct cpuload_s cpuload;
struct battery_status_s battery_status;
struct vehicle_status_s status = {};
struct cpuload_s cpuload = {};
struct battery_status_s battery_status = {};
const bool updated_status = _status_sub->update(&status);
const bool updated_cpuload = _cpuload_sub->update(&cpuload);
@ -611,14 +611,13 @@ protected:
if (updated_status || updated_battery || updated_cpuload) {
mavlink_sys_status_t msg;
msg.onboard_control_sensors_present = status.onboard_control_sensors_present;
msg.onboard_control_sensors_enabled = status.onboard_control_sensors_enabled;
msg.onboard_control_sensors_health = status.onboard_control_sensors_health;
msg.load = cpuload.load * 1000.0f;
msg.voltage_battery = battery_status.voltage_filtered_v * 1000.0f;
msg.current_battery = battery_status.current_filtered_a * 100.0f;
msg.battery_remaining = battery_status.remaining >= 0 ? battery_status.remaining * 100.0f : -1;
msg.voltage_battery = (battery_status.connected) ? battery_status.voltage_filtered_v * 1000.0f : UINT16_MAX;
msg.current_battery = (battery_status.connected) ? battery_status.current_filtered_a * 100.0f : -1;
msg.battery_remaining = (battery_status.connected) ? battery_status.remaining * 100.0f : -1;
// TODO: fill in something useful in the fields below
msg.drop_rate_comm = 0;
msg.errors_comm = 0;
@ -634,13 +633,13 @@ protected:
bat_msg.id = 0;
bat_msg.battery_function = MAV_BATTERY_FUNCTION_ALL;
bat_msg.type = MAV_BATTERY_TYPE_LIPO;
bat_msg.current_consumed = battery_status.discharged_mah;
bat_msg.current_consumed = (battery_status.connected) ? battery_status.discharged_mah : -1;
bat_msg.energy_consumed = -1;
bat_msg.current_battery = battery_status.current_a * 100;
bat_msg.battery_remaining = battery_status.remaining >= 0 ? battery_status.remaining * 100.0f : -1;
bat_msg.current_battery = (battery_status.connected) ? battery_status.current_filtered_a * 100 : -1;
bat_msg.battery_remaining = (battery_status.connected) ? battery_status.remaining * 100.0f : -1;
bat_msg.temperature = INT16_MAX;
for (unsigned int i = 0; i < (sizeof(bat_msg.voltages) / sizeof(bat_msg.voltages[0])); i++) {
if ((int)i < battery_status.cell_count) {
if ((int)i < battery_status.cell_count && battery_status.connected) {
bat_msg.voltages[i] = (battery_status.voltage_v / battery_status.cell_count) * 1000.0f;
} else {
bat_msg.voltages[i] = UINT16_MAX;
@ -2686,7 +2685,7 @@ protected:
void send(const hrt_abstime t)
{
struct vehicle_status_s status;
struct vehicle_status_s status = {};
(void)_status_sub->update(&status);
mavlink_command_long_t msg;

2
src/modules/mavlink/mavlink_orb_subscription.cpp
View File

@ -86,7 +86,7 @@ MavlinkOrbSubscription::update(uint64_t *time, void* data)
}
if (orb_copy(_topic, _fd, data)) {
if (data) {
if (data != nullptr) {
/* error copying topic data */
memset(data, 0, _topic->o_size);
}