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Keep initialization of outgoing vehicle_command_s consistent

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All others are initialized this way.
This commit is contained in:
José Roberto de Souza
2017-07-27 17:08:22 -07:00
committed by Lorenz Meier
parent 79f49fd851
commit c200d0e9a4
2 changed files with 26 additions and 20 deletions
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15
src/drivers/camera_trigger/camera_trigger.cpp
View File

@@ -483,10 +483,17 @@ CameraTrigger::stop()
void
CameraTrigger::test()
{
struct vehicle_command_s cmd = {};
cmd.timestamp = hrt_absolute_time(),
cmd.param5 = 1.0f;
cmd.command = vehicle_command_s::VEHICLE_CMD_DO_DIGICAM_CONTROL;
struct vehicle_command_s cmd = {
.timestamp = hrt_absolute_time(),
.param5 = 1.0f,
.param6 = 0.0f,
.param1 = 0.0f,
.param2 = 0.0f,
.param3 = 0.0f,
.param4 = 0.0f,
.param7 = 0.0f,
.command = vehicle_command_s::VEHICLE_CMD_DO_DIGICAM_CONTROL
};
orb_advert_t pub = orb_advertise_queue(ORB_ID(vehicle_command), &cmd, vehicle_command_s::ORB_QUEUE_LENGTH);
(void)orb_unadvertise(pub);

31
src/modules/navigator/navigator_main.cpp
View File

@@ -479,22 +479,21 @@ Navigator::task_main()
int land_start = _mission.find_offboard_land_start();
if (land_start != -1) {
struct vehicle_command_s vcmd = {};
vcmd.timestamp = hrt_absolute_time(),
vcmd.param1 = (float)land_start,
vcmd.param2 = 0.0f,
vcmd.param3 = 0.0f,
vcmd.param4 = 0.0f,
vcmd.param5 = 0.0,
vcmd.param6 = 0.0,
vcmd.param7 = 0.0f,
vcmd.command = vehicle_command_s::VEHICLE_CMD_MISSION_START;
vcmd.target_system = (uint8_t)get_vstatus()->system_id;
vcmd.target_component = (uint8_t)get_vstatus()->component_id;
vcmd.source_system = (uint8_t)get_vstatus()->system_id;
vcmd.source_component = (uint8_t)get_vstatus()->component_id;
vcmd.confirmation = false;
vcmd.from_external = false;
struct vehicle_command_s vcmd = {
.timestamp = hrt_absolute_time(),
.param5 = 0.0f,
.param6 = 0.0f,
.param1 = (float)land_start,
.param2 = 0.0f,
.param3 = 0.0f,
.param4 = 0.0f,
.param7 = 0.0f,
.command = vehicle_command_s::VEHICLE_CMD_MISSION_START,
.target_system = (uint8_t)get_vstatus()->system_id,
.target_component = (uint8_t)get_vstatus()->component_id,
.source_system = (uint8_t)get_vstatus()->system_id,
.source_component = (uint8_t)get_vstatus()->component_id
};
publish_vehicle_cmd(vcmd);