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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-08-10 01:30:25 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-08-10 01:30:25 +0200 |
| commit | 9ecec7fada7da3778c6214defcef68ea05352027 (patch) | |
| tree | 9c5cadb51d04a984f3bbddfe820772ab8ce1114d /src/modules | |
| parent | 5225d87854bdea1b5e4367e3db6b41ece9e46e13 (diff) | |
| download | px4-firmware-9ecec7fada7da3778c6214defcef68ea05352027.tar.gz px4-firmware-9ecec7fada7da3778c6214defcef68ea05352027.tar.bz2 px4-firmware-9ecec7fada7da3778c6214defcef68ea05352027.zip | |
Add default initializers and timestamp in local position
Diffstat (limited to 'src/modules')
| -rw-r--r-- | src/modules/mavlink/mavlink_messages.cpp | 7 | ||||
| -rw-r--r-- | src/modules/mc_pos_control/mc_pos_control_main.cpp | 1 | ||||
| -rw-r--r-- | src/modules/uORB/topics/vehicle_local_position_setpoint.h | 3 |
3 files changed, 7 insertions, 4 deletions
diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index 7f67475f2..c10be77b5 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -1430,7 +1430,7 @@ protected: struct position_setpoint_triplet_s pos_sp_triplet; if (_pos_sp_triplet_sub->update(&pos_sp_triplet)) { - mavlink_position_target_global_int_t msg; + mavlink_position_target_global_int_t msg{}; msg.coordinate_frame = MAV_FRAME_GLOBAL; msg.lat_int = pos_sp_triplet.current.lat * 1e7; @@ -1490,8 +1490,9 @@ protected: struct vehicle_local_position_setpoint_s pos_sp; if (_pos_sp_sub->update(&_pos_sp_time, &pos_sp)) { - mavlink_position_target_local_ned_t msg; + mavlink_position_target_local_ned_t msg{}; + msg.time_boot_ms = pos_sp.timestamp / 1000; msg.coordinate_frame = MAV_FRAME_LOCAL_NED; msg.x = pos_sp.x; msg.y = pos_sp.y; @@ -1558,7 +1559,7 @@ protected: struct vehicle_rates_setpoint_s att_rates_sp; (void)_att_rates_sp_sub->update(&_att_rates_sp_time, &att_rates_sp); - mavlink_attitude_target_t msg; + mavlink_attitude_target_t msg{}; msg.time_boot_ms = att_sp.timestamp / 1000; mavlink_euler_to_quaternion(att_sp.roll_body, att_sp.pitch_body, att_sp.yaw_body, msg.q); diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp index 0106af80a..ecc40428d 100644 --- a/src/modules/mc_pos_control/mc_pos_control_main.cpp +++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp @@ -788,6 +788,7 @@ MulticopterPositionControl::task_main() } /* fill local position setpoint */ + _local_pos_sp.timestamp = hrt_absolute_time(); _local_pos_sp.x = _pos_sp(0); _local_pos_sp.y = _pos_sp(1); _local_pos_sp.z = _pos_sp(2); diff --git a/src/modules/uORB/topics/vehicle_local_position_setpoint.h b/src/modules/uORB/topics/vehicle_local_position_setpoint.h index 8988a0330..6766bb58a 100644 --- a/src/modules/uORB/topics/vehicle_local_position_setpoint.h +++ b/src/modules/uORB/topics/vehicle_local_position_setpoint.h @@ -50,11 +50,12 @@ */ struct vehicle_local_position_setpoint_s { + uint64_t timestamp; /**< timestamp of the setpoint */ float x; /**< in meters NED */ float y; /**< in meters NED */ float z; /**< in meters NED */ float yaw; /**< in radians NED -PI..+PI */ -}; /**< Local position in NED frame to go to */ +}; /**< Local position in NED frame */ /** * @} |