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Global: Initialize the message variable #23560

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Global: Initialize the message variable #23560

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1489870
navigator: Initialize the message variable
muramura Aug 13, 2024
b016e66
ekf2: Initialize the message variable
muramura Aug 16, 2024
79a8ff2
dataman_client: Initialize the message variable
muramura Aug 16, 2024
0f64d07
accelerometer: Initialize the message variable
muramura Aug 16, 2024
2eef867
gyroscope: Initialize the message variable
muramura Aug 16, 2024
1ef2441
magnetometer: Initialize the message variable
muramura Aug 16, 2024
60348b3
HealthAndArmingChecks: Initialize the message variable
muramura Aug 16, 2024
91406dd
mavlink: Initialize the message variable
muramura Aug 16, 2024
d4929a5
mc_rate_control: Initialize the message variable
muramura Aug 16, 2024
b129eb2
payload_deliverer: Initialize the message variable
muramura Aug 16, 2024
ee993f2
gimbal: Initialize the message variable
muramura Aug 16, 2024
dfe85b8
control_allocator: Initialize the message variable
muramura Aug 16, 2024
875ddb5
uavcannode: Initialize the message variable
muramura Aug 16, 2024
d7b429f
mcp23009: Initialize the message variable
muramura Aug 16, 2024
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2 changes: 1 addition & 1 deletion src/drivers/gpio/mcp23009/mcp23009_main.cpp
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Expand Up @@ -97,7 +97,7 @@ void MCP23009::RunImpl()

// read every time we run, either when requested or when scheduled on interval
{
gpio_in_s _gpio_in;
gpio_in_s _gpio_in{};
_gpio_in.timestamp = hrt_absolute_time();
_gpio_in.device_id = get_device_id();
uint8_t input;
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2 changes: 1 addition & 1 deletion src/drivers/uavcannode/Subscribers/ESCRawCommand.hpp
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Expand Up @@ -81,7 +81,7 @@ class ESCRawCommand :
void callback(const uavcan::ReceivedDataStructure<uavcan::equipment::esc::RawCommand> &msg)
{

actuator_motors_s actuator_motors;
actuator_motors_s actuator_motors{};

actuator_motors.timestamp = hrt_absolute_time();
actuator_motors.timestamp_sample = actuator_motors.timestamp;
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2 changes: 1 addition & 1 deletion src/drivers/uavcannode/Subscribers/ServoArrayCommand.hpp
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Expand Up @@ -81,7 +81,7 @@ class ServoArrayCommand :
void callback(const uavcan::ReceivedDataStructure<uavcan::equipment::actuator::ArrayCommand> &msg)
{

actuator_servos_s actuator_servos;
actuator_servos_s actuator_servos{};

actuator_servos.timestamp = hrt_absolute_time();
actuator_servos.timestamp_sample = actuator_servos.timestamp;
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8 changes: 4 additions & 4 deletions src/lib/dataman_client/DatamanClient.cpp
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Expand Up @@ -259,7 +259,7 @@ bool DatamanClient::readAsync(dm_item_t item, uint32_t index, uint8_t *buffer, u

hrt_abstime timestamp = hrt_absolute_time();

dataman_request_s request;
dataman_request_s request{};
request.timestamp = timestamp;
request.index = index;
request.data_length = length;
Expand Down Expand Up @@ -297,7 +297,7 @@ bool DatamanClient::writeAsync(dm_item_t item, uint32_t index, uint8_t *buffer,

hrt_abstime timestamp = hrt_absolute_time();

dataman_request_s request;
dataman_request_s request{};
request.timestamp = timestamp;
request.index = index;
request.data_length = length;
Expand Down Expand Up @@ -332,7 +332,7 @@ bool DatamanClient::clearAsync(dm_item_t item)

hrt_abstime timestamp = hrt_absolute_time();

dataman_request_s request;
dataman_request_s request{};
request.timestamp = timestamp;
request.client_id = _client_id;
request.request_type = DM_CLEAR;
Expand Down Expand Up @@ -397,7 +397,7 @@ void DatamanClient::update()

_active_request.timestamp = timestamp;

dataman_request_s request;
dataman_request_s request{};
request.timestamp = timestamp;
request.index = _active_request.index;
request.data_length = _active_request.length;
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4 changes: 2 additions & 2 deletions src/lib/drivers/accelerometer/PX4Accelerometer.cpp
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Expand Up @@ -117,7 +117,7 @@ void PX4Accelerometer::update(const hrt_abstime &timestamp_sample, float x, floa
rotate_3f(_rotation, x, y, z);

// publish
sensor_accel_s report;
sensor_accel_s report{};

report.timestamp_sample = timestamp_sample;
report.device_id = _device_id;
Expand Down Expand Up @@ -151,7 +151,7 @@ void PX4Accelerometer::updateFIFO(sensor_accel_fifo_s &sample)


// publish
sensor_accel_s report;
sensor_accel_s report{};
report.timestamp_sample = sample.timestamp_sample;
report.device_id = _device_id;
report.temperature = _temperature;
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4 changes: 2 additions & 2 deletions src/lib/drivers/gyroscope/PX4Gyroscope.cpp
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Expand Up @@ -116,7 +116,7 @@ void PX4Gyroscope::update(const hrt_abstime &timestamp_sample, float x, float y,
// Apply rotation (before scaling)
rotate_3f(_rotation, x, y, z);

sensor_gyro_s report;
sensor_gyro_s report{};

report.timestamp_sample = timestamp_sample;
report.device_id = _device_id;
Expand Down Expand Up @@ -150,7 +150,7 @@ void PX4Gyroscope::updateFIFO(sensor_gyro_fifo_s &sample)


// publish
sensor_gyro_s report;
sensor_gyro_s report{};
report.timestamp_sample = sample.timestamp_sample;
report.device_id = _device_id;
report.temperature = _temperature;
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2 changes: 1 addition & 1 deletion src/lib/drivers/magnetometer/PX4Magnetometer.cpp
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Expand Up @@ -62,7 +62,7 @@ void PX4Magnetometer::set_device_type(uint8_t devtype)

void PX4Magnetometer::update(const hrt_abstime &timestamp_sample, float x, float y, float z)
{
sensor_mag_s report;
sensor_mag_s report{};
report.timestamp_sample = timestamp_sample;
report.device_id = _device_id;
report.temperature = _temperature;
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2 changes: 1 addition & 1 deletion src/modules/commander/HealthAndArmingChecks/HealthAndArmingChecks.cpp
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Expand Up @@ -91,7 +91,7 @@ bool HealthAndArmingChecks::update(bool force_reporting)
_reporter._mavlink_log_pub = nullptr;
// LEGACY end

health_report_s health_report;
health_report_s health_report{};
_reporter.getHealthReport(health_report);
health_report.timestamp = hrt_absolute_time();
_health_report_pub.publish(health_report);
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4 changes: 2 additions & 2 deletions src/modules/control_allocator/ControlAllocator.cpp
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Expand Up @@ -657,11 +657,11 @@ ControlAllocator::publish_actuator_controls()
return;
}

actuator_motors_s actuator_motors;
actuator_motors_s actuator_motors{};
actuator_motors.timestamp = hrt_absolute_time();
actuator_motors.timestamp_sample = _timestamp_sample;

actuator_servos_s actuator_servos;
actuator_servos_s actuator_servos{};
actuator_servos.timestamp = actuator_motors.timestamp;
actuator_servos.timestamp_sample = _timestamp_sample;

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8 changes: 4 additions & 4 deletions src/modules/ekf2/EKF2.cpp
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Expand Up @@ -1010,7 +1010,7 @@ void EKF2::PublishAttitude(const hrt_abstime &timestamp)
{
if (_ekf.attitude_valid()) {
// generate vehicle attitude quaternion data
vehicle_attitude_s att;
vehicle_attitude_s att{};
att.timestamp_sample = timestamp;
_ekf.getQuaternion().copyTo(att.q);

Expand Down Expand Up @@ -1654,7 +1654,7 @@ void EKF2::PublishLocalPosition(const hrt_abstime &timestamp)
void EKF2::PublishOdometry(const hrt_abstime &timestamp, const imuSample &imu_sample)
{
// generate vehicle odometry data
vehicle_odometry_s odom;
vehicle_odometry_s odom{};
odom.timestamp_sample = imu_sample.time_us;

// position
Expand Down Expand Up @@ -1765,7 +1765,7 @@ void EKF2::PublishSensorBias(const hrt_abstime &timestamp)
void EKF2::PublishStates(const hrt_abstime &timestamp)
{
// publish estimator states
estimator_states_s states;
estimator_states_s states{};
states.timestamp_sample = _ekf.time_delayed_us();
const auto state_vector = _ekf.state().vector();
state_vector.copyTo(states.states);
Expand Down Expand Up @@ -1965,7 +1965,7 @@ void EKF2::PublishYawEstimatorStatus(const hrt_abstime &timestamp)
static_assert(sizeof(yaw_estimator_status_s::yaw) / sizeof(float) == N_MODELS_EKFGSF,
"yaw_estimator_status_s::yaw wrong size");

yaw_estimator_status_s yaw_est_test_data;
yaw_estimator_status_s yaw_est_test_data{};

if (_ekf.getDataEKFGSF(&yaw_est_test_data.yaw_composite, &yaw_est_test_data.yaw_variance,
yaw_est_test_data.yaw,
Expand Down
10 changes: 5 additions & 5 deletions src/modules/ekf2/EKF2Selector.cpp
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Expand Up @@ -364,7 +364,7 @@ bool EKF2Selector::UpdateErrorScores()
void EKF2Selector::PublishVehicleAttitude()
{
// selected estimator_attitude -> vehicle_attitude
vehicle_attitude_s attitude;
vehicle_attitude_s attitude{};

if (_instance[_selected_instance].estimator_attitude_sub.update(&attitude)) {
bool instance_change = false;
Expand Down Expand Up @@ -418,7 +418,7 @@ void EKF2Selector::PublishVehicleAttitude()
void EKF2Selector::PublishVehicleLocalPosition()
{
// selected estimator_local_position -> vehicle_local_position
vehicle_local_position_s local_position;
vehicle_local_position_s local_position{};

if (_instance[_selected_instance].estimator_local_position_sub.update(&local_position)) {
bool instance_change = false;
Expand Down Expand Up @@ -544,7 +544,7 @@ void EKF2Selector::PublishVehicleLocalPosition()
void EKF2Selector::PublishVehicleOdometry()
{
// selected estimator_odometry -> vehicle_odometry
vehicle_odometry_s odometry;
vehicle_odometry_s odometry{};

if (_instance[_selected_instance].estimator_odometry_sub.update(&odometry)) {

Expand Down Expand Up @@ -591,7 +591,7 @@ void EKF2Selector::PublishVehicleOdometry()
void EKF2Selector::PublishVehicleGlobalPosition()
{
// selected estimator_global_position -> vehicle_global_position
vehicle_global_position_s global_position;
vehicle_global_position_s global_position{};

if (_instance[_selected_instance].estimator_global_position_sub.update(&global_position)) {
bool instance_change = false;
Expand Down Expand Up @@ -672,7 +672,7 @@ void EKF2Selector::PublishVehicleGlobalPosition()
void EKF2Selector::PublishWindEstimate()
{
// selected estimator_wind -> wind
wind_s wind;
wind_s wind{};

if (_instance[_selected_instance].estimator_wind_sub.update(&wind)) {
bool publish = true;
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2 changes: 1 addition & 1 deletion src/modules/gimbal/input_mavlink.cpp
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Expand Up @@ -470,7 +470,7 @@ void InputMavlinkGimbalV2::_stream_gimbal_manager_information(const ControlData
{
// TODO: Take gimbal_device_information into account.

gimbal_manager_information_s gimbal_manager_info;
gimbal_manager_information_s gimbal_manager_info{};
gimbal_manager_info.timestamp = hrt_absolute_time();

gimbal_manager_info.cap_flags =
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2 changes: 1 addition & 1 deletion src/modules/mavlink/mavlink_ulog.cpp
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Expand Up @@ -258,7 +258,7 @@ void MavlinkULog::handle_ack(mavlink_logging_ack_t ack)

void MavlinkULog::publish_ack(uint16_t sequence)
{
ulog_stream_ack_s ack;
ulog_stream_ack_s ack{};
ack.timestamp = hrt_absolute_time();
ack.msg_sequence = sequence;

Expand Down
2 changes: 1 addition & 1 deletion src/modules/mc_rate_control/MulticopterRateControl.cpp
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Expand Up @@ -276,7 +276,7 @@ void MulticopterRateControl::updateActuatorControlsStatus(const vehicle_torque_s

if (_energy_integration_time > 500e-3f) {

actuator_controls_status_s status;
actuator_controls_status_s status{};
status.timestamp = vehicle_torque_setpoint.timestamp;

for (int i = 0; i < 3; i++) {
Expand Down
6 changes: 3 additions & 3 deletions src/modules/navigator/geofence.cpp
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Expand Up @@ -104,7 +104,7 @@ void Geofence::run()
_initiate_fence_updated = false;
_dataman_state = DatamanState::Read;

geofence_status_s status;
geofence_status_s status{};
status.timestamp = hrt_absolute_time();
status.geofence_id = _opaque_id;
status.status = geofence_status_s::GF_STATUS_LOADING;
Expand Down Expand Up @@ -159,7 +159,7 @@ void Geofence::run()
_dataman_state = DatamanState::UpdateRequestWait;
_fence_updated = true;

geofence_status_s status;
geofence_status_s status{};
status.timestamp = hrt_absolute_time();
status.geofence_id = _opaque_id;
status.status = geofence_status_s::GF_STATUS_READY;
Expand All @@ -179,7 +179,7 @@ void Geofence::run()
_updateFence();
_fence_updated = true;

geofence_status_s status;
geofence_status_s status{};
status.timestamp = hrt_absolute_time();
status.geofence_id = _opaque_id;
status.status = geofence_status_s::GF_STATUS_READY;
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2 changes: 1 addition & 1 deletion src/modules/payload_deliverer/payload_deliverer.cpp
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Expand Up @@ -236,7 +236,7 @@ void PayloadDeliverer::handle_vehicle_command(const hrt_abstime &now, const veh

bool PayloadDeliverer::send_gripper_vehicle_command(const int32_t gripper_action)
{
vehicle_command_s vcmd;
vehicle_command_s vcmd{};
vcmd.timestamp = hrt_absolute_time();
vcmd.command = vehicle_command_s::VEHICLE_CMD_DO_GRIPPER;
vcmd.param2 = gripper_action;
Expand Down
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