land detector FW uniform initialization

src/modules/land_detector/FixedwingLandDetector.cpp

@@ -41,28 +41,15 @@
 
 #include <px4_config.h>
 #include <px4_defines.h>
+
 #include <cmath>
-#include <drivers/drv_hrt.h>
 
 #include "FixedwingLandDetector.h"
 
-
 namespace land_detector
 {
 
-FixedwingLandDetector::FixedwingLandDetector() :
+FixedwingLandDetector::FixedwingLandDetector()
-	_paramHandle(),
-	_params(),
-	_controlStateSub(-1),
-	_armingSub(-1),
-	_airspeedSub(-1),
-	_controlState{},
-	_arming{},
-	_airspeed{},
-	_velocity_xy_filtered(0.0f),
-	_velocity_z_filtered(0.0f),
-	_airspeed_filtered(0.0f),
-	_accel_horz_lp(0.0f)
 {
 	_paramHandle.maxVelocity = param_find("LNDFW_VEL_XY_MAX");
 	_paramHandle.maxClimbRate = param_find("LNDFW_VEL_Z_MAX");

src/modules/land_detector/FixedwingLandDetector.h

@@ -57,21 +57,15 @@ public:
 	FixedwingLandDetector();
 
 protected:
-	virtual void _initialize_topics() override;
+	void _initialize_topics() override;
+	void _update_params() override;
+	void _update_topics() override;
+	bool _get_landed_state() override;
+	bool _get_maybe_landed_state() override;
+	bool _get_ground_contact_state() override;
+	bool _get_freefall_state() override;
+	float _get_max_altitude() override;
 
-	virtual void _update_params() override;
-
-	virtual void _update_topics() override;
-
-	virtual bool _get_landed_state() override;
-
-	virtual bool _get_maybe_landed_state() override;
-
-	virtual bool _get_ground_contact_state() override;
-
-	virtual bool _get_freefall_state() override;
-
-	virtual float _get_max_altitude() override;
 private:
 
 	/** Time in us that landing conditions have to hold before triggering a land. */
@@ -82,27 +76,27 @@ private:
 		param_t maxClimbRate;
 		param_t maxAirSpeed;
 		param_t maxIntVelocity;
-	} _paramHandle;
+	} _paramHandle{};
 
 	struct {
 		float maxVelocity;
 		float maxClimbRate;
 		float maxAirSpeed;
 		float maxIntVelocity;
-	} _params;
+	} _params{};
 
-	int _controlStateSub;
+	int _controlStateSub{-1};
-	int _armingSub;
+	int _armingSub{-1};
-	int _airspeedSub;
+	int _airspeedSub{-1};
 
-	struct control_state_s _controlState;
+	control_state_s _controlState{};
-	struct actuator_armed_s _arming;
+	actuator_armed_s _arming{};
-	struct airspeed_s _airspeed;
+	airspeed_s _airspeed{};
 
-	float _velocity_xy_filtered;
+	float _velocity_xy_filtered{0.0f};
-	float _velocity_z_filtered;
+	float _velocity_z_filtered{0.0f};
-	float _airspeed_filtered;
+	float _airspeed_filtered{0.0f};
-	float _accel_horz_lp;
+	float _accel_horz_lp{0.0f};
 };
 
 } // namespace land_detector