fw_att_control initialize all fields in header

src/modules/fw_att_control/FixedwingAttitudeControl.cpp

@@ -42,54 +42,13 @@ extern "C" __EXPORT int fw_att_control_main(int argc, char *argv[]);
 
 FixedwingAttitudeControl::FixedwingAttitudeControl() :
 	SuperBlock(nullptr, "FW_ATT"),
-	/* subscriptions */
-	_att_sub(-1),
-	_att_sp_sub(-1),
-	_battery_status_sub(-1),
-	_global_pos_sub(-1),
-	_manual_sub(-1),
-	_params_sub(-1),
-	_vcontrol_mode_sub(-1),
-	_vehicle_land_detected_sub(-1),
-	_vehicle_status_sub(-1),
-
-	/* publications */
-	_rate_sp_pub(nullptr),
-	_attitude_sp_pub(nullptr),
-	_actuators_0_pub(nullptr),
-	_actuators_2_pub(nullptr),
-	_rate_ctrl_status_pub(nullptr),
-
-	_rates_sp_id(nullptr),
-	_actuators_id(nullptr),
-	_attitude_setpoint_id(nullptr),
-
 	_sub_airspeed(ORB_ID(airspeed), 0, 0, &getSubscriptions()),
 
 	/* performance counters */
 	_loop_perf(perf_alloc(PC_ELAPSED, "fwa_dt")),
 	_nonfinite_input_perf(perf_alloc(PC_COUNT, "fwa_nani")),
-	_nonfinite_output_perf(perf_alloc(PC_COUNT, "fwa_nano")),
-	/* states */
-	_flaps_applied(0),
-	_flaperons_applied(0),
-	_roll(0.0f),
-	_pitch(0.0f),
-	_yaw(0.0f)
+	_nonfinite_output_perf(perf_alloc(PC_COUNT, "fwa_nano"))
 {
-	/* safely initialize structs */
-	_actuators = {};
-	_actuators_airframe = {};
-	_att = {};
-	_att_sp = {};
-	_battery_status = {};
-	_global_pos = {};
-	_manual = {};
-	_rates_sp = {};
-	_vcontrol_mode = {};
-	_vehicle_land_detected = {};
-	_vehicle_status = {};
-
 	_parameter_handles.p_tc = param_find("FW_P_TC");
 	_parameter_handles.p_p = param_find("FW_PR_P");
 	_parameter_handles.p_i = param_find("FW_PR_I");

src/modules/fw_att_control/FixedwingAttitudeControl.hpp

@@ -94,37 +94,37 @@ public:
 
 private:
 
-	int		_att_sub;			/**< vehicle attitude */
-	int		_att_sp_sub;			/**< vehicle attitude setpoint */
-	int		_battery_status_sub;		/**< battery status subscription */
-	int		_global_pos_sub;		/**< global position subscription */
-	int		_manual_sub;			/**< notification of manual control updates */
-	int		_params_sub;			/**< notification of parameter updates */
-	int		_vcontrol_mode_sub;		/**< vehicle status subscription */
-	int		_vehicle_land_detected_sub;	/**< vehicle land detected subscription */
-	int		_vehicle_status_sub;		/**< vehicle status subscription */
-
-	orb_advert_t	_rate_sp_pub;			/**< rate setpoint publication */
-	orb_advert_t	_attitude_sp_pub;		/**< attitude setpoint point */
-	orb_advert_t	_actuators_0_pub;		/**< actuator control group 0 setpoint */
-	orb_advert_t	_actuators_2_pub;		/**< actuator control group 1 setpoint (Airframe) */
-	orb_advert_t	_rate_ctrl_status_pub;		/**< rate controller status publication */
-
-	orb_id_t _rates_sp_id;	// pointer to correct rates setpoint uORB metadata structure
-	orb_id_t _actuators_id;	// pointer to correct actuator controls0 uORB metadata structure
-	orb_id_t _attitude_setpoint_id;
-
-	struct actuator_controls_s			_actuators;		/**< actuator control inputs */
-	struct actuator_controls_s			_actuators_airframe;	/**< actuator control inputs */
-	struct battery_status_s				_battery_status;	/**< battery status */
-	struct manual_control_setpoint_s		_manual;		/**< r/c channel data */
-	struct vehicle_attitude_s			_att;		/**< vehicle attitude setpoint */
-	struct vehicle_attitude_setpoint_s		_att_sp;		/**< vehicle attitude setpoint */
-	struct vehicle_control_mode_s			_vcontrol_mode;		/**< vehicle control mode */
-	struct vehicle_global_position_s		_global_pos;		/**< global position */
-	struct vehicle_land_detected_s			_vehicle_land_detected;	/**< vehicle land detected */
-	struct vehicle_rates_setpoint_s			_rates_sp;	/* attitude rates setpoint */
-	struct vehicle_status_s				_vehicle_status;	/**< vehicle status */
+	int		_att_sub{-1};				/**< vehicle attitude */
+	int		_att_sp_sub{-1};			/**< vehicle attitude setpoint */
+	int		_battery_status_sub{-1};		/**< battery status subscription */
+	int		_global_pos_sub{-1};			/**< global position subscription */
+	int		_manual_sub{-1};			/**< notification of manual control updates */
+	int		_params_sub{-1};			/**< notification of parameter updates */
+	int		_vcontrol_mode_sub{-1};			/**< vehicle status subscription */
+	int		_vehicle_land_detected_sub{-1};		/**< vehicle land detected subscription */
+	int		_vehicle_status_sub{-1};		/**< vehicle status subscription */
+
+	orb_advert_t	_rate_sp_pub{nullptr};			/**< rate setpoint publication */
+	orb_advert_t	_attitude_sp_pub{nullptr};		/**< attitude setpoint point */
+	orb_advert_t	_actuators_0_pub{nullptr};		/**< actuator control group 0 setpoint */
+	orb_advert_t	_actuators_2_pub{nullptr};		/**< actuator control group 1 setpoint (Airframe) */
+	orb_advert_t	_rate_ctrl_status_pub{nullptr};		/**< rate controller status publication */
+
+	orb_id_t _rates_sp_id{nullptr};	// pointer to correct rates setpoint uORB metadata structure
+	orb_id_t _actuators_id{nullptr};	// pointer to correct actuator controls0 uORB metadata structure
+	orb_id_t _attitude_setpoint_id{nullptr};
+
+	actuator_controls_s			_actuators {};		/**< actuator control inputs */
+	actuator_controls_s			_actuators_airframe {};	/**< actuator control inputs */
+	battery_status_s			_battery_status {};	/**< battery status */
+	manual_control_setpoint_s		_manual {};		/**< r/c channel data */
+	vehicle_attitude_s			_att {};		/**< vehicle attitude setpoint */
+	vehicle_attitude_setpoint_s		_att_sp {};		/**< vehicle attitude setpoint */
+	vehicle_control_mode_s			_vcontrol_mode {};	/**< vehicle control mode */
+	vehicle_global_position_s		_global_pos {};		/**< global position */
+	vehicle_land_detected_s			_vehicle_land_detected {};	/**< vehicle land detected */
+	vehicle_rates_setpoint_s		_rates_sp {};		/* attitude rates setpoint */
+	vehicle_status_s			_vehicle_status {};	/**< vehicle status */
 
 	Subscription<airspeed_s>			_sub_airspeed;
 
@@ -132,8 +132,8 @@ private:
 	perf_counter_t	_nonfinite_input_perf;		/**< performance counter for non finite input */
 	perf_counter_t	_nonfinite_output_perf;		/**< performance counter for non finite output */
 
-	float _flaps_applied;
-	float _flaperons_applied;
+	float _flaps_applied{0.0f};
+	float _flaperons_applied{0.0f};
 
 	struct {
 		float p_tc;
@@ -193,7 +193,7 @@ private:
 
 		int32_t bat_scale_en;			/**< Battery scaling enabled */
 
-	}		_parameters{};			/**< local copies of interesting parameters */
+	} _parameters{};			/**< local copies of interesting parameters */
 
 	struct {
 
@@ -255,7 +255,7 @@ private:
 	} _parameter_handles{};		/**< handles for interesting parameters */
 
 	// Rotation matrix and euler angles to extract from control state
-	math::Matrix<3, 3> _R;
+	math::Matrix<3, 3> _R{};
 	float _roll{0.0f};
 	float _pitch{0.0f};
 	float _yaw{0.0f};