diff --git a/.clang-tidy b/.clang-tidy index b887b9ecd9..cf57ac80a6 100644 --- a/.clang-tidy +++ b/.clang-tidy @@ -79,7 +79,6 @@ Checks: '*, -modernize-use-auto, -modernize-use-bool-literals, -modernize-use-default-member-init, - -modernize-use-emplace, -modernize-use-equals-default, -modernize-use-equals-delete, -modernize-use-override, diff --git a/src/lib/cdev/posix/vfile.h b/src/lib/cdev/posix/vfile.h index 70d4daa1cb..0e7418915a 100644 --- a/src/lib/cdev/posix/vfile.h +++ b/src/lib/cdev/posix/vfile.h @@ -50,7 +50,7 @@ class VFile : public CDev public: static VFile *createFile(const char *fname, mode_t mode); - ~VFile() {} + ~VFile() = default; ssize_t write(file_t *handlep, const char *buffer, size_t buflen) override; diff --git a/src/lib/controllib/BlockDelay.hpp b/src/lib/controllib/BlockDelay.hpp index d7ba6d13da..97669369b9 100644 --- a/src/lib/controllib/BlockDelay.hpp +++ b/src/lib/controllib/BlockDelay.hpp @@ -66,7 +66,7 @@ public: _index(0), _delay(-1) {} - virtual ~BlockDelay() {} + virtual ~BlockDelay() = default; matrix::Matrix update(const matrix::Matrix &u) { // store current value diff --git a/src/lib/controllib/BlockDerivative.hpp b/src/lib/controllib/BlockDerivative.hpp index e7879c3dd2..ebba7ad4ef 100644 --- a/src/lib/controllib/BlockDerivative.hpp +++ b/src/lib/controllib/BlockDerivative.hpp @@ -68,7 +68,7 @@ public: _initialized(false), _lowPass(this, "LP") {} - virtual ~BlockDerivative() {} + virtual ~BlockDerivative() = default; /** * Update the state and get current derivative diff --git a/src/lib/controllib/BlockHighPass.hpp b/src/lib/controllib/BlockHighPass.hpp index 5c6ca75fab..ac58cfe026 100644 --- a/src/lib/controllib/BlockHighPass.hpp +++ b/src/lib/controllib/BlockHighPass.hpp @@ -69,7 +69,7 @@ public: _y(0), _fCut(this, "") // only one parameter, no need to name {} - virtual ~BlockHighPass() {} + virtual ~BlockHighPass() = default; float update(float input); // accessors float getU() {return _u;} diff --git a/src/lib/controllib/BlockIntegral.hpp b/src/lib/controllib/BlockIntegral.hpp index 1c4c001ab8..ae9027b611 100644 --- a/src/lib/controllib/BlockIntegral.hpp +++ b/src/lib/controllib/BlockIntegral.hpp @@ -64,7 +64,7 @@ public: SuperBlock(parent, name), _y(0), _limit(this, "") {} - virtual ~BlockIntegral() {} + virtual ~BlockIntegral() = default; float update(float input); // accessors float getY() {return _y;} diff --git a/src/lib/controllib/BlockIntegralTrap.hpp b/src/lib/controllib/BlockIntegralTrap.hpp index 43d753629f..2a085641bd 100644 --- a/src/lib/controllib/BlockIntegralTrap.hpp +++ b/src/lib/controllib/BlockIntegralTrap.hpp @@ -72,7 +72,7 @@ public: _u(0), _y(0), _limit(this, "") {} - virtual ~BlockIntegralTrap() {} + virtual ~BlockIntegralTrap() = default; float update(float input); // accessors float getU() {return _u;} diff --git a/src/lib/controllib/BlockLimit.hpp b/src/lib/controllib/BlockLimit.hpp index 37f1837981..170998fb53 100644 --- a/src/lib/controllib/BlockLimit.hpp +++ b/src/lib/controllib/BlockLimit.hpp @@ -69,7 +69,7 @@ public: _min(this, "MIN"), _max(this, "MAX") {} - virtual ~BlockLimit() {} + virtual ~BlockLimit() = default; float update(float input); // accessors float getMin() { return _min.get(); } diff --git a/src/lib/controllib/BlockLimitSym.hpp b/src/lib/controllib/BlockLimitSym.hpp index 1f875a0ecc..2a5258d886 100644 --- a/src/lib/controllib/BlockLimitSym.hpp +++ b/src/lib/controllib/BlockLimitSym.hpp @@ -68,7 +68,7 @@ public: Block(parent, name), _max(this, "MAX") {} - virtual ~BlockLimitSym() {} + virtual ~BlockLimitSym() = default; float update(float input); // accessors float getMax() { return _max.get(); } diff --git a/src/lib/controllib/BlockLowPass.hpp b/src/lib/controllib/BlockLowPass.hpp index 9302977408..b0518df9b2 100644 --- a/src/lib/controllib/BlockLowPass.hpp +++ b/src/lib/controllib/BlockLowPass.hpp @@ -69,7 +69,7 @@ public: _state(NAN /* initialize to invalid val, force into is_finite() check on first call */), _fCut(this, "") // only one parameter, no need to name {} - virtual ~BlockLowPass() {} + virtual ~BlockLowPass() = default; float update(float input); // accessors float getState() { return _state; } diff --git a/src/lib/controllib/BlockLowPass2.hpp b/src/lib/controllib/BlockLowPass2.hpp index 9e5b18a0bc..0b895d3240 100644 --- a/src/lib/controllib/BlockLowPass2.hpp +++ b/src/lib/controllib/BlockLowPass2.hpp @@ -69,7 +69,7 @@ public: _fs(sample_freq), _lp(_fs, _fCut.get()) {} - virtual ~BlockLowPass2() {} + virtual ~BlockLowPass2() = default; float update(float input); // accessors float getState() { return _state; } diff --git a/src/lib/controllib/BlockLowPassVector.hpp b/src/lib/controllib/BlockLowPassVector.hpp index 96990b0567..b0e8c0579c 100644 --- a/src/lib/controllib/BlockLowPassVector.hpp +++ b/src/lib/controllib/BlockLowPassVector.hpp @@ -70,7 +70,7 @@ public: _state(i) = 0.0f / 0.0f; } } - virtual ~BlockLowPassVector() {} + virtual ~BlockLowPassVector() = default; matrix::Vector update(const matrix::Matrix &input) { for (size_t i = 0; i < M; i++) { diff --git a/src/lib/controllib/BlockOutput.hpp b/src/lib/controllib/BlockOutput.hpp index 348c4d580f..44787f72b6 100644 --- a/src/lib/controllib/BlockOutput.hpp +++ b/src/lib/controllib/BlockOutput.hpp @@ -70,7 +70,7 @@ public: update(0); } - virtual ~BlockOutput() {} + virtual ~BlockOutput() = default; void update(float input) { _val = _limit.update(input + getTrim()); diff --git a/src/lib/controllib/BlockP.hpp b/src/lib/controllib/BlockP.hpp index 5d7282c8a5..5b6011e9eb 100644 --- a/src/lib/controllib/BlockP.hpp +++ b/src/lib/controllib/BlockP.hpp @@ -67,7 +67,7 @@ public: Block(parent, name), _kP(this, "") // only one param, no need to name {} - virtual ~BlockP() {} + virtual ~BlockP() = default; float update(float input) { return getKP() * input; diff --git a/src/lib/controllib/BlockPD.hpp b/src/lib/controllib/BlockPD.hpp index 48bccf33a6..fd438c0277 100644 --- a/src/lib/controllib/BlockPD.hpp +++ b/src/lib/controllib/BlockPD.hpp @@ -69,7 +69,7 @@ public: _kP(this, "P"), _kD(this, "D") {} - virtual ~BlockPD() {} + virtual ~BlockPD() = default; float update(float input) { return getKP() * input + diff --git a/src/lib/controllib/BlockPI.hpp b/src/lib/controllib/BlockPI.hpp index 68ccb6fd01..b432caadc7 100644 --- a/src/lib/controllib/BlockPI.hpp +++ b/src/lib/controllib/BlockPI.hpp @@ -69,7 +69,7 @@ public: _kP(this, "P"), _kI(this, "I") {} - virtual ~BlockPI() {} + virtual ~BlockPI() = default; float update(float input) { return getKP() * input + diff --git a/src/lib/controllib/BlockPID.hpp b/src/lib/controllib/BlockPID.hpp index 40bebd917d..acf79b99ab 100644 --- a/src/lib/controllib/BlockPID.hpp +++ b/src/lib/controllib/BlockPID.hpp @@ -71,7 +71,7 @@ public: _kI(this, "I"), _kD(this, "D") {} - virtual ~BlockPID() {} + virtual ~BlockPID() = default; float update(float input) { return getKP() * input + diff --git a/src/lib/controllib/BlockRandGauss.hpp b/src/lib/controllib/BlockRandGauss.hpp index 813ac535f9..8d0a0f89f6 100644 --- a/src/lib/controllib/BlockRandGauss.hpp +++ b/src/lib/controllib/BlockRandGauss.hpp @@ -69,7 +69,7 @@ public: // in main program for all calls to rand // XXX currently in nuttx if you seed to 0, rand breaks } - virtual ~BlockRandGauss() {} + virtual ~BlockRandGauss() = default; float update() { static float V1, V2, S; diff --git a/src/lib/controllib/BlockRandUniform.hpp b/src/lib/controllib/BlockRandUniform.hpp index 5b2e88cbc0..07d2f1eecb 100644 --- a/src/lib/controllib/BlockRandUniform.hpp +++ b/src/lib/controllib/BlockRandUniform.hpp @@ -72,7 +72,7 @@ public: // in main program for all calls to rand // XXX currently in nuttx if you seed to 0, rand breaks } - virtual ~BlockRandUniform() {} + virtual ~BlockRandUniform() = default; float update() { static float rand_max = RAND_MAX; diff --git a/src/lib/controllib/BlockStats.hpp b/src/lib/controllib/BlockStats.hpp index 22c1359f62..ccf12b8a9e 100644 --- a/src/lib/controllib/BlockStats.hpp +++ b/src/lib/controllib/BlockStats.hpp @@ -67,7 +67,7 @@ public: _sumSq(), _count(0) {} - virtual ~BlockStats() {} + virtual ~BlockStats() = default; void update(const matrix::Vector &u) { _sum += u; diff --git a/src/lib/drivers/smbus/SMBus.cpp b/src/lib/drivers/smbus/SMBus.cpp index c175aefd1c..fa1bea6dc7 100644 --- a/src/lib/drivers/smbus/SMBus.cpp +++ b/src/lib/drivers/smbus/SMBus.cpp @@ -50,10 +50,6 @@ SMBus::SMBus(int bus_num, uint16_t address) : { } -SMBus::~SMBus() -{ -} - int SMBus::read_word(const uint8_t cmd_code, void *data) { // 2 data bytes + pec byte @@ -177,4 +173,4 @@ uint8_t SMBus::get_pec(uint8_t *buff, const uint8_t len) } return crc; -} \ No newline at end of file +} diff --git a/src/lib/drivers/smbus/SMBus.hpp b/src/lib/drivers/smbus/SMBus.hpp index e6518fac48..24b50f547c 100644 --- a/src/lib/drivers/smbus/SMBus.hpp +++ b/src/lib/drivers/smbus/SMBus.hpp @@ -48,7 +48,7 @@ class SMBus : public device::I2C { public: SMBus(int bus_num, uint16_t address); - ~SMBus(); + ~SMBus() override = default; /** * @brief Sends a block write command. diff --git a/src/lib/mixer/mixer.h b/src/lib/mixer/mixer.h index b6572f5396..9c5feda690 100644 --- a/src/lib/mixer/mixer.h +++ b/src/lib/mixer/mixer.h @@ -192,7 +192,7 @@ public: * @param control_cb Callback invoked when reading controls. */ Mixer(ControlCallback control_cb, uintptr_t cb_handle); - virtual ~Mixer() {} + virtual ~Mixer() = default; /** * Perform the mixing function. @@ -471,7 +471,7 @@ class NullMixer : public Mixer { public: NullMixer(); - ~NullMixer() {} + ~NullMixer() = default; /** * Factory method. diff --git a/src/lib/terrain_estimation/terrain_estimator.cpp b/src/lib/terrain_estimation/terrain_estimator.cpp index 9f376bccf1..bf24de1567 100644 --- a/src/lib/terrain_estimation/terrain_estimator.cpp +++ b/src/lib/terrain_estimation/terrain_estimator.cpp @@ -48,7 +48,7 @@ TerrainEstimator::TerrainEstimator() : _time_last_distance(0), _time_last_gps(0) { - memset(&_x._data[0], 0, sizeof(_x._data)); + _x.zero(); _u_z = 0.0f; _P.setIdentity(); } diff --git a/src/lib/terrain_estimation/terrain_estimator.h b/src/lib/terrain_estimation/terrain_estimator.h index ab734775e7..ab5db616fa 100644 --- a/src/lib/terrain_estimation/terrain_estimator.h +++ b/src/lib/terrain_estimation/terrain_estimator.h @@ -60,7 +60,7 @@ class __EXPORT TerrainEstimator { public: TerrainEstimator(); - ~TerrainEstimator() {} + ~TerrainEstimator() = default; bool is_valid() {return _terrain_valid;} float get_distance_to_ground() {return -_x(0);} diff --git a/src/modules/land_detector/FixedwingLandDetector.h b/src/modules/land_detector/FixedwingLandDetector.h index be1ceac67c..b8ca1fd701 100644 --- a/src/modules/land_detector/FixedwingLandDetector.h +++ b/src/modules/land_detector/FixedwingLandDetector.h @@ -56,6 +56,7 @@ class FixedwingLandDetector final : public LandDetector { public: FixedwingLandDetector(); + ~FixedwingLandDetector() override = default; protected: diff --git a/src/modules/land_detector/MulticopterLandDetector.h b/src/modules/land_detector/MulticopterLandDetector.h index 8746acbd69..c1ea3d2e9a 100644 --- a/src/modules/land_detector/MulticopterLandDetector.h +++ b/src/modules/land_detector/MulticopterLandDetector.h @@ -60,6 +60,7 @@ class MulticopterLandDetector : public LandDetector { public: MulticopterLandDetector(); + ~MulticopterLandDetector() override = default; protected: void _update_params() override; diff --git a/src/modules/land_detector/RoverLandDetector.h b/src/modules/land_detector/RoverLandDetector.h index bc1fb0a894..3f1d330299 100644 --- a/src/modules/land_detector/RoverLandDetector.h +++ b/src/modules/land_detector/RoverLandDetector.h @@ -50,6 +50,7 @@ class RoverLandDetector : public LandDetector { public: RoverLandDetector() = default; + ~RoverLandDetector() override = default; protected: bool _get_ground_contact_state() override; diff --git a/src/modules/land_detector/VtolLandDetector.cpp b/src/modules/land_detector/VtolLandDetector.cpp index 407bf47f6f..9dd624f7c8 100644 --- a/src/modules/land_detector/VtolLandDetector.cpp +++ b/src/modules/land_detector/VtolLandDetector.cpp @@ -46,10 +46,6 @@ namespace land_detector { -VtolLandDetector::VtolLandDetector() -{ -} - void VtolLandDetector::_update_topics() { MulticopterLandDetector::_update_topics(); diff --git a/src/modules/land_detector/VtolLandDetector.h b/src/modules/land_detector/VtolLandDetector.h index 48fd69f86e..10f24f8059 100644 --- a/src/modules/land_detector/VtolLandDetector.h +++ b/src/modules/land_detector/VtolLandDetector.h @@ -52,7 +52,8 @@ namespace land_detector class VtolLandDetector : public MulticopterLandDetector { public: - VtolLandDetector(); + VtolLandDetector() = default; + ~VtolLandDetector() override = default; protected: void _update_topics() override; diff --git a/src/modules/mavlink/mavlink_ulog.cpp b/src/modules/mavlink/mavlink_ulog.cpp index 7366e7c081..27f85c38f9 100644 --- a/src/modules/mavlink/mavlink_ulog.cpp +++ b/src/modules/mavlink/mavlink_ulog.cpp @@ -66,10 +66,6 @@ MavlinkULog::MavlinkULog(int datarate, float max_rate_factor, uint8_t target_sys _next_rate_check = _last_sent_time + _rate_calculation_delta_t * 1.e6f; } -MavlinkULog::~MavlinkULog() -{ -} - void MavlinkULog::start_ack_received() { if (_waiting_for_initial_ack) { diff --git a/src/modules/mavlink/mavlink_ulog.h b/src/modules/mavlink/mavlink_ulog.h index f46775e8e6..95400617d1 100644 --- a/src/modules/mavlink/mavlink_ulog.h +++ b/src/modules/mavlink/mavlink_ulog.h @@ -102,7 +102,7 @@ private: MavlinkULog(int datarate, float max_rate_factor, uint8_t target_system, uint8_t target_component); - ~MavlinkULog(); + ~MavlinkULog() = default; static void lock() {