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Minor initialization fixes #11228

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merged 2 commits into from
Jan 17, 2019
Merged

Minor initialization fixes #11228

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4f23f96
mc_pos_control: fix uninitialized member _old_landing_gear_position
bkueng Jan 17, 2019
ab3e6f0
vmount: avoid reading uninitialized value
bkueng Jan 17, 2019
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2 changes: 1 addition & 1 deletion src/modules/mc_pos_control/mc_pos_control_main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -147,7 +147,7 @@ class MulticopterPositionControl : public ModuleBase<MulticopterPositionControl>
vehicle_trajectory_waypoint_s _traj_wp_avoidance{}; /**< trajectory waypoint */
vehicle_trajectory_waypoint_s _traj_wp_avoidance_desired{}; /**< desired waypoints, inputs to an obstacle avoidance module */
landing_gear_s _landing_gear{};
int8_t _old_landing_gear_position;
int8_t _old_landing_gear_position{landing_gear_s::GEAR_KEEP};

DEFINE_PARAMETERS(
(ParamFloat<px4::params::MPC_TKO_RAMP_T>) _takeoff_ramp_time, /**< time constant for smooth takeoff ramp */
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4 changes: 2 additions & 2 deletions src/modules/vmount/output.cpp
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Expand Up @@ -207,13 +207,13 @@ void OutputBase::_calculate_output_angles(const hrt_abstime &t)

//get the output angles and stabilize if necessary
vehicle_attitude_s vehicle_attitude;
matrix::Eulerf euler;

if (_stabilize[0] || _stabilize[1] || _stabilize[2]) {
orb_copy(ORB_ID(vehicle_attitude), _vehicle_attitude_sub, &vehicle_attitude);
euler = matrix::Quatf(vehicle_attitude.q);
}

matrix::Eulerf euler = matrix::Quatf(vehicle_attitude.q);

for (int i = 0; i < 3; ++i) {
if (_stabilize[i]) {
_angle_outputs[i] = _angle_setpoints[i] - euler(i);
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