UAVCAN servers: fixed member initialization; removed dead stuff

src/modules/uavcan/uavcan_servers.cpp

@@ -88,32 +88,14 @@ UavcanServers::UavcanServers(uavcan::INode &main_node) :
 	_vdriver(NumIfaces, uavcan_stm32::SystemClock::instance(), main_node.getAllocator(), VirtualIfaceBlockAllocationQuota),
 	_subnode(_vdriver, uavcan_stm32::SystemClock::instance(), main_node.getAllocator()),
 	_main_node(main_node),
-	_tracer(),
-	_storage_backend(),
-	_fw_version_checker(),
 	_server_instance(_subnode, _storage_backend, _tracer),
 	_fileserver_backend(_subnode),
 	_node_info_retriever(_subnode),
 	_fw_upgrade_trigger(_subnode, _fw_version_checker),
 	_fw_server(_subnode, _fileserver_backend),
-	_count_in_progress(false),
-	_count_index(0),
-	_param_in_progress(0),
-	_param_index(0),
-	_param_list_in_progress(false),
-	_param_list_all_nodes(false),
-	_param_list_node_id(1),
-	_param_dirty_bitmap{0, 0, 0, 0},
-	_param_save_opcode(0),
-	_cmd_in_progress(false),
-	_param_response_pub(nullptr),
 	_param_getset_client(_subnode),
 	_param_opcode_client(_subnode),
 	_param_restartnode_client(_subnode),
-	_mutex_inited(false),
-	_check_fw(false),
-	_esc_enumeration_active(false),
-	_esc_enumeration_index(0),
 	_beep_pub(_subnode),
 	_enumeration_indication_sub(_subnode),
 	_enumeration_client(_subnode),

src/modules/uavcan/uavcan_servers.hpp

@@ -142,23 +142,23 @@ private:
 	 *
 	 * The node's UAVCAN ID is used as the index into the _param_counts array.
 	 */
-	uint8_t _param_counts[128];
-	bool _count_in_progress;
-	uint8_t _count_index;
+	uint8_t _param_counts[128] = {};
+	bool _count_in_progress = false;
+	uint8_t _count_index = 0;
 
-	bool _param_in_progress;
-	uint8_t _param_index;
-	bool _param_list_in_progress;
-	bool _param_list_all_nodes;
-	uint8_t _param_list_node_id;
+	bool _param_in_progress = false;
+	uint8_t _param_index = 0;
+	bool _param_list_in_progress = false;
+	bool _param_list_all_nodes = false;
+	uint8_t _param_list_node_id = 1;
 
-	uint32_t _param_dirty_bitmap[4];
-	uint8_t _param_save_opcode;
+	uint32_t _param_dirty_bitmap[4] = {};
+	uint8_t _param_save_opcode = 0;
 
-	bool _cmd_in_progress;
+	bool _cmd_in_progress = false;
 
 	// uORB topic handle for MAVLink parameter responses
-	orb_advert_t _param_response_pub;
+	orb_advert_t _param_response_pub = nullptr;
 
 	typedef uavcan::MethodBinder<UavcanServers *,
 		void (UavcanServers::*)(const uavcan::ServiceCallResult<uavcan::protocol::param::GetSet> &)> GetSetCallback;
@@ -185,15 +185,14 @@ private:
 
 	void beep(float frequency);
 
-	bool _mutex_inited;
-	volatile bool _check_fw;
+	bool _mutex_inited = false;
+	volatile bool _check_fw = false;
 
 	// ESC enumeration
-	bool _esc_enumeration_active;
+	bool _esc_enumeration_active = false;
 	uint8_t _esc_enumeration_ids[uavcan::equipment::esc::RawCommand::FieldTypes::cmd::MaxSize];
-	uint8_t _esc_enumeration_index;
-	uint8_t _esc_set_index;
-	uint8_t _esc_count;
+	uint8_t _esc_enumeration_index = 0;
+	uint8_t _esc_count = 0;
 
 	typedef uavcan::MethodBinder<UavcanServers *,
 		void (UavcanServers::*)(const uavcan::ServiceCallResult<uavcan::protocol::enumeration::Begin> &)> EnumerationBeginCallback;