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FlightTasks local position setpoint don't use copyRaw 

- fixes Coverity CID 268659
This commit is contained in:
Daniel Agar 2018-08-01 22:09:56 -04:00 committed by Lorenz Meier
parent 568a5f1c4c
commit a90c7659ad
1 changed files with 14 additions and 3 deletions
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17
src/lib/FlightTasks/tasks/FlightTask.cpp
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@ -42,12 +42,23 @@ const vehicle_local_position_setpoint_s FlightTask::getPositionSetpoint()
/* fill position setpoint message */
vehicle_local_position_setpoint_s vehicle_local_position_setpoint;
vehicle_local_position_setpoint.timestamp = hrt_absolute_time();
_position_setpoint.copyToRaw(&vehicle_local_position_setpoint.x);
_velocity_setpoint.copyToRaw(&vehicle_local_position_setpoint.vx);
_acceleration_setpoint.copyToRaw(&vehicle_local_position_setpoint.acc_x);
vehicle_local_position_setpoint.x = _position_setpoint(0);
vehicle_local_position_setpoint.y = _position_setpoint(1);
vehicle_local_position_setpoint.z = _position_setpoint(2);
vehicle_local_position_setpoint.vx = _velocity_setpoint(0);
vehicle_local_position_setpoint.vy = _velocity_setpoint(1);
vehicle_local_position_setpoint.vz = _velocity_setpoint(2);
vehicle_local_position_setpoint.acc_x = _acceleration_setpoint(0);
vehicle_local_position_setpoint.acc_y = _acceleration_setpoint(1);
vehicle_local_position_setpoint.acc_z = _acceleration_setpoint(2);
_thrust_setpoint.copyTo(vehicle_local_position_setpoint.thrust);
vehicle_local_position_setpoint.yaw = _yaw_setpoint;
vehicle_local_position_setpoint.yawspeed = _yawspeed_setpoint;
return vehicle_local_position_setpoint;
}