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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-07-15 17:40:04 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-07-15 17:40:04 +0200 |
| commit | 619433d36911b9c3923bae666d3632beb713935f (patch) | |
| tree | f6f5babcee1d902bbc91fb862ea1cb00856d5d9e /src/modules | |
| parent | e91a4217ad23a0f5190b0e34b7621a5170632a43 (diff) | |
| parent | 61286451361c0e4547caf2385f56ee6cc8afffb1 (diff) | |
| download | px4-firmware-619433d36911b9c3923bae666d3632beb713935f.tar.gz px4-firmware-619433d36911b9c3923bae666d3632beb713935f.tar.bz2 px4-firmware-619433d36911b9c3923bae666d3632beb713935f.zip | |
Merge pull request #1178 from PX4/eff_plus_plus
C++ with a little more rigor
Diffstat (limited to 'src/modules')
3 files changed, 19 insertions, 3 deletions
diff --git a/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp b/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp index 40cb6043f..b3eb816f9 100644 --- a/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp +++ b/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp @@ -112,6 +112,10 @@ public: */ FixedwingEstimator(); + /* we do not want people ever copying this class */ + FixedwingEstimator(const FixedwingEstimator& that) = delete; + FixedwingEstimator operator=(const FixedwingEstimator&) = delete; + /** * Destructor, also kills the sensors task. */ @@ -371,9 +375,10 @@ FixedwingEstimator::FixedwingEstimator() : _mag_offsets({}), #ifdef SENSOR_COMBINED_SUB - _sensor_combined({}), + _sensor_combined{}, #endif + _pos_ref{}, _baro_ref(0.0f), _baro_ref_offset(0.0f), _baro_gps_offset(0.0f), @@ -390,12 +395,18 @@ FixedwingEstimator::FixedwingEstimator() : /* states */ _baro_init(false), _gps_initialized(false), + _gps_start_time(0), + _filter_start_time(0), + _last_sensor_timestamp(0), + _last_run(0), _gyro_valid(false), _accel_valid(false), _mag_valid(false), _ekf_logging(true), _debug(0), _mavlink_fd(-1), + _parameters{}, + _parameter_handles{}, _ekf(nullptr), _velocity_xy_filtered(0.0f), _velocity_z_filtered(0.0f), diff --git a/src/modules/ekf_att_pos_estimator/estimator_utilities.cpp b/src/modules/ekf_att_pos_estimator/estimator_utilities.cpp index 29a8c8d1e..77cc1eeeb 100644 --- a/src/modules/ekf_att_pos_estimator/estimator_utilities.cpp +++ b/src/modules/ekf_att_pos_estimator/estimator_utilities.cpp @@ -45,8 +45,11 @@ void Vector3f::zero(void) z = 0.0f; } -Mat3f::Mat3f() { - identity(); +Mat3f::Mat3f() : + x{1.0f, 0.0f, 0.0f}, + y{0.0f, 1.0f, 0.0f}, + z{0.0f, 0.0f, 1.0f} +{ } void Mat3f::identity() { diff --git a/src/modules/ekf_att_pos_estimator/module.mk b/src/modules/ekf_att_pos_estimator/module.mk index dc5220bf0..36d854ddd 100644 --- a/src/modules/ekf_att_pos_estimator/module.mk +++ b/src/modules/ekf_att_pos_estimator/module.mk @@ -41,3 +41,5 @@ SRCS = ekf_att_pos_estimator_main.cpp \ ekf_att_pos_estimator_params.c \ estimator_23states.cpp \ estimator_utilities.cpp + +EXTRACXXFLAGS = -Weffc++ |