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px4-firmware
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MAVLink: Only initialize where required

This commit is contained in:
Lorenz Meier 2017-07-29 11:39:51 +02:00
parent 6b17db35b0
commit dc4faa81de
1 changed files with 45 additions and 49 deletions
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94
src/modules/mavlink/mavlink_messages.cpp
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@ -1905,20 +1905,18 @@ protected:
if (_est_sub->update(&_est_time, &est)) {
mavlink_estimator_status_t est_msg = {};
est_msg.time_usec = est.timestamp;
est_msg.pos_horiz_accuracy = est.pos_horiz_accuracy;
est_msg.pos_vert_accuracy = est.pos_vert_accuracy;
est_msg.mag_ratio = est.mag_test_ratio;
est_msg.vel_ratio = est.vel_test_ratio;
est_msg.pos_horiz_ratio = est.pos_test_ratio;
est_msg.pos_vert_ratio = est.hgt_test_ratio;
est_msg.hagl_ratio = est.hagl_test_ratio;
est_msg.tas_ratio = est.tas_test_ratio;
est_msg.pos_horiz_accuracy = est.pos_horiz_accuracy;
est_msg.pos_vert_accuracy = est.pos_vert_accuracy;
est_msg.flags = est.solution_status_flags;
mavlink_estimator_status_t est_msg = {
.time_usec = est.timestamp,
.vel_ratio = est.vel_test_ratio,
.pos_horiz_ratio = est.pos_test_ratio,
.pos_vert_ratio = est.hgt_test_ratio,
.mag_ratio = est.mag_test_ratio,
.hagl_ratio = est.hagl_test_ratio,
.tas_ratio = est.tas_test_ratio,
.pos_horiz_accuracy = est.pos_horiz_accuracy,
.pos_vert_accuracy = est.pos_vert_accuracy,
.flags = est.solution_status_flags
};
mavlink_msg_estimator_status_send_struct(_mavlink->get_channel(), &est_msg);
@ -2813,7 +2811,7 @@ protected:
bool send(const hrt_abstime t)
{
struct vehicle_attitude_setpoint_s att_sp = {};
struct vehicle_attitude_setpoint_s att_sp;
if (_att_sp_sub->update(&_att_sp_time, &att_sp)) {
@ -2896,7 +2894,7 @@ protected:
bool send(const hrt_abstime t)
{
struct rc_input_values rc = {};
struct rc_input_values rc;
if (_rc_sub->update(&_rc_time, &rc)) {
@ -3001,7 +2999,7 @@ protected:
bool send(const hrt_abstime t)
{
struct manual_control_setpoint_s manual = {};
struct manual_control_setpoint_s manual;
if (_manual_sub->update(&_manual_time, &manual)) {
mavlink_manual_control_t msg = {};
@ -3078,7 +3076,7 @@ protected:
bool send(const hrt_abstime t)
{
struct optical_flow_s flow = {};
struct optical_flow_s flow;
if (_flow_sub->update(&_flow_time, &flow)) {
mavlink_optical_flow_rad_t msg = {};
@ -3155,7 +3153,7 @@ protected:
bool send(const hrt_abstime t)
{
struct debug_key_value_s debug = {};
struct debug_key_value_s debug;
if (_debug_sub->update(&_debug_time, &debug)) {
mavlink_named_value_float_t msg = {};
@ -3225,8 +3223,8 @@ protected:
bool send(const hrt_abstime t)
{
struct fw_pos_ctrl_status_s _fw_pos_ctrl_status = {};
struct tecs_status_s _tecs_status = {};
struct fw_pos_ctrl_status_s _fw_pos_ctrl_status;
struct tecs_status_s _tecs_status;
const bool updated_fw_pos_ctrl_status = _fw_pos_ctrl_status_sub->update(&_fw_pos_ctrl_status);
const bool updated_tecs = _tecs_status_sub->update(&_tecs_status);
@ -3299,26 +3297,28 @@ protected:
bool send(const hrt_abstime t)
{
struct vehicle_status_s status = {};
(void)_status_sub->update(&status);
struct vehicle_status_s status;
mavlink_command_long_t msg = {};
if (_status_sub->update(&status)) {
msg.target_system = 0;
msg.target_component = MAV_COMP_ID_ALL;
msg.command = MAV_CMD_DO_CONTROL_VIDEO;
msg.confirmation = 0;
msg.param1 = 0;
msg.param2 = 0;
msg.param3 = 0;
/* set camera capture ON/OFF depending on arming state */
msg.param4 = (status.arming_state == vehicle_status_s::ARMING_STATE_ARMED
|| status.arming_state == vehicle_status_s::ARMING_STATE_ARMED_ERROR) ? 1 : 0;
msg.param5 = 0;
msg.param6 = 0;
msg.param7 = 0;
mavlink_command_long_t msg = {};
mavlink_msg_command_long_send_struct(_mavlink->get_channel(), &msg);
msg.target_system = 0;
msg.target_component = MAV_COMP_ID_ALL;
msg.command = MAV_CMD_DO_CONTROL_VIDEO;
msg.confirmation = 0;
msg.param1 = 0;
msg.param2 = 0;
msg.param3 = 0;
/* set camera capture ON/OFF depending on arming state */
msg.param4 = (status.arming_state == vehicle_status_s::ARMING_STATE_ARMED
|| status.arming_state == vehicle_status_s::ARMING_STATE_ARMED_ERROR) ? 1 : 0;
msg.param5 = 0;
msg.param6 = 0;
msg.param7 = 0;
mavlink_msg_command_long_send_struct(_mavlink->get_channel(), &msg);
}
return true;
}
@ -3373,7 +3373,7 @@ protected:
bool send(const hrt_abstime t)
{
struct distance_sensor_s dist_sensor = {};
struct distance_sensor_s dist_sensor;
if (_distance_sensor_sub->update(&_dist_sensor_time, &dist_sensor)) {
@ -3475,8 +3475,8 @@ protected:
bool send(const hrt_abstime t)
{
struct vehicle_status_s status = {};
struct vehicle_land_detected_s land_detected = {};
struct vehicle_status_s status;
struct vehicle_land_detected_s land_detected;
bool updated = false;
if (_status_sub->update(&status)) {
@ -3728,11 +3728,9 @@ protected:
bool send(const hrt_abstime t)
{
struct wind_estimate_s wind_estimate = {};
struct wind_estimate_s wind_estimate;
bool updated = _wind_estimate_sub->update(&_wind_estimate_time, &wind_estimate);
if (updated) {
if (_wind_estimate_sub->update(&_wind_estimate_time, &wind_estimate)) {
mavlink_wind_cov_t msg = {};
@ -3811,11 +3809,9 @@ protected:
bool send(const hrt_abstime t)
{
struct mount_orientation_s mount_orientation = {};
struct mount_orientation_s mount_orientation;
bool updated = _mount_orientation_sub->update(&_mount_orientation_time, &mount_orientation);
if (updated) {
if (_mount_orientation_sub->update(&_mount_orientation_time, &mount_orientation)) {
mavlink_mount_orientation_t msg = {};