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MC pos control: Use default initializers

This commit is contained in:
Lorenz Meier 2016-05-13 10:34:47 +02:00
parent d89937502c
commit 623ef6d67c
1 changed files with 12 additions and 10 deletions
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22
src/modules/mc_pos_control/mc_pos_control_main.cpp
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@ -374,6 +374,17 @@ MulticopterPositionControl::MulticopterPositionControl() :
_local_pos_sp_pub(nullptr),
_global_vel_sp_pub(nullptr),
_attitude_setpoint_id(0),
_vehicle_status{},
_vehicle_land_detected{},
_ctrl_state{},
_att_sp{},
_manual{},
_control_mode{},
_arming{},
_local_pos{},
_pos_sp_triplet{},
_local_pos_sp{},
_global_vel_sp{},
_manual_thr_min(this, "MANTHR_MIN"),
_manual_thr_max(this, "MANTHR_MAX"),
_vel_x_deriv(this, "VELD"),
@ -398,17 +409,8 @@ MulticopterPositionControl::MulticopterPositionControl() :
_takeoff_thrust_sp(0.0f),
control_vel_enabled_prev(false)
{
memset(&_vehicle_status, 0, sizeof(_vehicle_status));
memset(&_ctrl_state, 0, sizeof(_ctrl_state));
// Make the quaternion valid for control state
_ctrl_state.q[0] = 1.0f;
memset(&_att_sp, 0, sizeof(_att_sp));
memset(&_manual, 0, sizeof(_manual));
memset(&_control_mode, 0, sizeof(_control_mode));
memset(&_arming, 0, sizeof(_arming));
memset(&_local_pos, 0, sizeof(_local_pos));
memset(&_pos_sp_triplet, 0, sizeof(_pos_sp_triplet));
memset(&_local_pos_sp, 0, sizeof(_local_pos_sp));
memset(&_global_vel_sp, 0, sizeof(_global_vel_sp));
memset(&_ref_pos, 0, sizeof(_ref_pos));