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Simulator: Cleaner data structure init

This commit is contained in:
Lorenz Meier 2015-09-20 16:42:48 +02:00
parent 84b4e30fbd
commit 6a2e50d2a8
1 changed files with 6 additions and 7 deletions
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13
src/modules/simulator/simulator_mavlink.cpp
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@ -128,7 +128,6 @@ void Simulator::send_controls()
{
mavlink_hil_controls_t msg;
pack_actuator_message(msg);
//PX4_WARN("Sending HIL_CONTROLS msg");
send_mavlink_message(MAVLINK_MSG_ID_HIL_CONTROLS, &msg, 200);
}
@ -173,7 +172,7 @@ static void fill_rc_input_msg(struct rc_input_values *rc, mavlink_rc_channels_t
void Simulator::update_sensors(mavlink_hil_sensor_t *imu)
{
// write sensor data to memory so that drivers can copy data from there
RawMPUData mpu;
RawMPUData mpu = {};
mpu.accel_x = imu->xacc;
mpu.accel_y = imu->yacc;
mpu.accel_z = imu->zacc;
@ -184,21 +183,21 @@ void Simulator::update_sensors(mavlink_hil_sensor_t *imu)
write_MPU_data((void *)&mpu);
RawAccelData accel;
RawAccelData accel = {};
accel.x = imu->xacc;
accel.y = imu->yacc;
accel.z = imu->zacc;
write_accel_data((void *)&accel);
RawMagData mag;
RawMagData mag = {};
mag.x = imu->xmag;
mag.y = imu->ymag;
mag.z = imu->zmag;
write_mag_data((void *)&mag);
RawBaroData baro;
RawBaroData baro = {};
// calculate air pressure from altitude (valid for low altitude)
baro.pressure = (PRESS_GROUND - GRAVITY * DENSITY * imu->pressure_alt) / 100.0f; // convert from Pa to mbar
baro.altitude = imu->pressure_alt;
@ -206,7 +205,7 @@ void Simulator::update_sensors(mavlink_hil_sensor_t *imu)
write_baro_data((void *)&baro);
RawAirspeedData airspeed;
RawAirspeedData airspeed = {};
airspeed.temperature = imu->temperature;
airspeed.diff_pressure = imu->diff_pressure;
@ -347,7 +346,7 @@ void Simulator::send()
// wait for up to 100ms for data
pret = px4_poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100);
//timed out
// timed out
if (pret == 0) {
continue;
}