fix initialization of attitude controllers

src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp

@@ -49,10 +49,19 @@
 
 ECL_PitchController::ECL_PitchController() :
 	_last_run(0),
+	_tc(0.1f),
+	_k_p(0.0f),
+	_k_i(0.0f),
+	_k_d(0.0f),
+	_integrator_max(0.0f),
+	_max_rate_pos(0.0f),
+	_max_rate_neg(0.0f),
+	_roll_ff(0.0f),
 	_last_output(0.0f),
 	_integrator(0.0f),
 	_rate_error(0.0f),
-	_rate_setpoint(0.0f)
+	_rate_setpoint(0.0f),
+	_bodyrate_setpoint(0.0f)
 {
 }
 

src/lib/ecl/attitude_fw/ecl_roll_controller.cpp

@@ -50,13 +50,17 @@
 ECL_RollController::ECL_RollController() :
 	_last_run(0),
 	_tc(0.1f),
+	_k_p(0.0f),
+	_k_i(0.0f),
+	_k_d(0.0f),
+	_integrator_max(0.0f),
+	_max_rate(0.0f),
 	_last_output(0.0f),
 	_integrator(0.0f),
 	_rate_error(0.0f),
 	_rate_setpoint(0.0f),
 	_bodyrate_setpoint(0.0f)
 {
-
 }
 
 float ECL_RollController::control_attitude(float roll_setpoint, float roll)

src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp

@@ -48,16 +48,19 @@
 
 ECL_YawController::ECL_YawController() :
 	_last_run(0),
-	_tc(0.1f),
+	_k_p(0.0f),
+	_k_i(0.0f),
+	_k_d(0.0f),
+	_integrator_max(0.0f),
+	_max_rate(0.0f),
+	_roll_ff(0.0f),
 	_last_output(0.0f),
 	_integrator(0.0f),
 	_rate_error(0.0f),
 	_rate_setpoint(0.0f),
 	_bodyrate_setpoint(0.0f),
-	_coordinated(1.0f)
-
+	_coordinated(0.0f)
 {
-
 }
 
 float ECL_YawController::control_attitude(float roll, float pitch,

src/lib/ecl/attitude_fw/ecl_yaw_controller.h

@@ -104,8 +104,6 @@ public:
 
 private:
 	uint64_t _last_run;
-
-	float _tc;
 	float _k_p;
 	float _k_i;
 	float _k_d;