From ceec0238c4b7a6e9caf6e241e136fb0bb37e317a Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Fri, 10 Jan 2020 11:08:28 -0500 Subject: [PATCH] replace mag_report with sensor_mag_s --- .../df_ak8963_wrapper/df_ak8963_wrapper.cpp | 2 +- .../df_lsm9ds1_wrapper/df_lsm9ds1_wrapper.cpp | 4 ++-- .../df_mpu9250_wrapper/df_mpu9250_wrapper.cpp | 2 +- src/drivers/drv_mag.h | 1 - src/drivers/magnetometer/bmm150/bmm150.cpp | 16 ++++++++-------- src/drivers/magnetometer/bmm150/bmm150.hpp | 4 ++-- src/drivers/magnetometer/hmc5883/HMC5883.cpp | 12 ++++++------ src/drivers/magnetometer/hmc5883/HMC5883.hpp | 2 +- src/drivers/magnetometer/ist8310/ist8310.cpp | 16 ++++++++-------- src/drivers/magnetometer/lis3mdl/lis3mdl.cpp | 14 +++++++------- src/drivers/magnetometer/lis3mdl/lis3mdl.h | 2 +- .../magnetometer/lis3mdl/lis3mdl_main.cpp | 2 +- src/drivers/magnetometer/lsm303agr/LSM303AGR.cpp | 2 +- src/drivers/magnetometer/qmc5883/qmc5883.cpp | 16 ++++++++-------- src/drivers/magnetometer/rm3100/rm3100.cpp | 12 ++++++------ src/drivers/magnetometer/rm3100/rm3100.h | 2 +- src/drivers/magnetometer/rm3100/rm3100_main.cpp | 2 +- .../qurt/fc_addon/mpu_spi/mpu9x50_main.cpp | 4 ++-- src/modules/commander/mag_calibration.cpp | 4 ++-- src/modules/sensors/voted_sensors_update.cpp | 4 ++-- 20 files changed, 61 insertions(+), 62 deletions(-) diff --git a/src/drivers/driver_framework_wrapper/df_ak8963_wrapper/df_ak8963_wrapper.cpp b/src/drivers/driver_framework_wrapper/df_ak8963_wrapper/df_ak8963_wrapper.cpp index 21921aa6af..b3581dbdee 100644 --- a/src/drivers/driver_framework_wrapper/df_ak8963_wrapper/df_ak8963_wrapper.cpp +++ b/src/drivers/driver_framework_wrapper/df_ak8963_wrapper/df_ak8963_wrapper.cpp @@ -276,7 +276,7 @@ int DfAK8963Wrapper::_publish(struct mag_sensor_data &data) /* Publish mag first. */ perf_begin(_mag_sample_perf); - mag_report mag_report = {}; + sensor_mag_s mag_report = {}; mag_report.timestamp = hrt_absolute_time(); mag_report.is_external = true; diff --git a/src/drivers/driver_framework_wrapper/df_lsm9ds1_wrapper/df_lsm9ds1_wrapper.cpp b/src/drivers/driver_framework_wrapper/df_lsm9ds1_wrapper/df_lsm9ds1_wrapper.cpp index 442448f447..276d390eae 100644 --- a/src/drivers/driver_framework_wrapper/df_lsm9ds1_wrapper/df_lsm9ds1_wrapper.cpp +++ b/src/drivers/driver_framework_wrapper/df_lsm9ds1_wrapper/df_lsm9ds1_wrapper.cpp @@ -256,7 +256,7 @@ int DfLsm9ds1Wrapper::start() } if (_mag_enabled) { - mag_report mag_report = {}; + sensor_mag_s mag_report = {}; _mag_topic = orb_advertise_multi(ORB_ID(sensor_mag), &mag_report, &_mag_orb_class_instance, ORB_PRIO_DEFAULT); @@ -593,7 +593,7 @@ int DfLsm9ds1Wrapper::_publish(struct imu_sensor_data &data) sensor_accel_s accel_report = {}; sensor_gyro_s gyro_report = {}; - mag_report mag_report = {}; + sensor_mag_s mag_report = {}; accel_report.timestamp = gyro_report.timestamp = hrt_absolute_time(); mag_report.timestamp = accel_report.timestamp; diff --git a/src/drivers/driver_framework_wrapper/df_mpu9250_wrapper/df_mpu9250_wrapper.cpp b/src/drivers/driver_framework_wrapper/df_mpu9250_wrapper/df_mpu9250_wrapper.cpp index 28be051cb8..2f24e1dcf0 100644 --- a/src/drivers/driver_framework_wrapper/df_mpu9250_wrapper/df_mpu9250_wrapper.cpp +++ b/src/drivers/driver_framework_wrapper/df_mpu9250_wrapper/df_mpu9250_wrapper.cpp @@ -587,7 +587,7 @@ int DfMpu9250Wrapper::_publish(struct imu_sensor_data &data) sensor_accel_s accel_report = {}; sensor_gyro_s gyro_report = {}; - mag_report mag_report = {}; + sensor_mag_s mag_report = {}; accel_report.timestamp = gyro_report.timestamp = hrt_absolute_time(); diff --git a/src/drivers/drv_mag.h b/src/drivers/drv_mag.h index 7510e0f8d2..13e50fffeb 100644 --- a/src/drivers/drv_mag.h +++ b/src/drivers/drv_mag.h @@ -50,7 +50,6 @@ #define MAG2_DEVICE_PATH "/dev/mag2" #include -#define mag_report sensor_mag_s /** mag scaling factors; Vout = (Vin * Vscale) + Voffset */ struct mag_calibration_s { diff --git a/src/drivers/magnetometer/bmm150/bmm150.cpp b/src/drivers/magnetometer/bmm150/bmm150.cpp index 83a89f001d..d4627b4577 100644 --- a/src/drivers/magnetometer/bmm150/bmm150.cpp +++ b/src/drivers/magnetometer/bmm150/bmm150.cpp @@ -135,7 +135,7 @@ void test(bool external_bus) { int fd = -1; const char *path = (external_bus ? BMM150_DEVICE_PATH_MAG_EXT : BMM150_DEVICE_PATH_MAG); - struct mag_report m_report; + sensor_mag_s m_report; ssize_t sz; @@ -338,7 +338,7 @@ int BMM150::init() } /* allocate basic report buffers */ - _reports = new ringbuffer::RingBuffer(2, sizeof(mag_report)); + _reports = new ringbuffer::RingBuffer(2, sizeof(sensor_mag_s)); if (_reports == nullptr) { goto out; @@ -374,7 +374,7 @@ int BMM150::init() } /* advertise sensor topic, measure manually to initialize valid report */ - struct mag_report mrb; + sensor_mag_s mrb; _reports->get(&mrb); /* measurement will have generated a report, publish */ @@ -425,8 +425,8 @@ BMM150::stop() ssize_t BMM150::read(struct file *filp, char *buffer, size_t buflen) { - unsigned count = buflen / sizeof(mag_report); - struct mag_report *mag_buf = reinterpret_cast(buffer); + unsigned count = buflen / sizeof(sensor_mag_s); + sensor_mag_s *mag_buf = reinterpret_cast(buffer); int ret = 0; /* buffer must be large enough */ @@ -443,7 +443,7 @@ BMM150::read(struct file *filp, char *buffer, size_t buflen) */ while (count--) { if (_reports->get(mag_buf)) { - ret += sizeof(struct mag_report); + ret += sizeof(sensor_mag_s); mag_buf++; } } @@ -474,7 +474,7 @@ BMM150::read(struct file *filp, char *buffer, size_t buflen) if (_reports->get(mag_buf)) { - ret = sizeof(struct mag_report); + ret = sizeof(sensor_mag_s); } } while (0); @@ -540,7 +540,7 @@ BMM150::collect() bool mag_notify = true; uint8_t mag_data[8], status; uint16_t resistance, lsb, msb, msblsb; - mag_report mrb; + sensor_mag_s mrb{}; /* start collecting data */ diff --git a/src/drivers/magnetometer/bmm150/bmm150.hpp b/src/drivers/magnetometer/bmm150/bmm150.hpp index 8c7fb4bd5f..89b8db4656 100644 --- a/src/drivers/magnetometer/bmm150/bmm150.hpp +++ b/src/drivers/magnetometer/bmm150/bmm150.hpp @@ -224,7 +224,7 @@ private: unsigned _call_interval; - mag_report _report {}; + sensor_mag_s _report {}; ringbuffer::RingBuffer *_reports; bool _collect_phase; @@ -265,7 +265,7 @@ private: enum Rotation _rotation; bool _got_duplicate; - mag_report _last_report {}; /**< used for info() */ + sensor_mag_s _last_report {}; /**< used for info() */ int init_trim_registers(void); diff --git a/src/drivers/magnetometer/hmc5883/HMC5883.cpp b/src/drivers/magnetometer/hmc5883/HMC5883.cpp index 7ae7f8e6eb..91c37868a9 100644 --- a/src/drivers/magnetometer/hmc5883/HMC5883.cpp +++ b/src/drivers/magnetometer/hmc5883/HMC5883.cpp @@ -104,7 +104,7 @@ HMC5883::init() } /* allocate basic report buffers */ - _reports = new ringbuffer::RingBuffer(2, sizeof(mag_report)); + _reports = new ringbuffer::RingBuffer(2, sizeof(sensor_mag_s)); if (_reports == nullptr) { goto out; @@ -243,8 +243,8 @@ void HMC5883::check_conf(void) ssize_t HMC5883::read(cdev::file_t *filp, char *buffer, size_t buflen) { - unsigned count = buflen / sizeof(struct mag_report); - struct mag_report *mag_buf = reinterpret_cast(buffer); + unsigned count = buflen / sizeof(sensor_mag_s); + sensor_mag_s *mag_buf = reinterpret_cast(buffer); int ret = 0; /* buffer must be large enough */ @@ -261,7 +261,7 @@ HMC5883::read(cdev::file_t *filp, char *buffer, size_t buflen) */ while (count--) { if (_reports->get(mag_buf)) { - ret += sizeof(struct mag_report); + ret += sizeof(sensor_mag_s); mag_buf++; } } @@ -291,7 +291,7 @@ HMC5883::read(cdev::file_t *filp, char *buffer, size_t buflen) } if (_reports->get(mag_buf)) { - ret = sizeof(struct mag_report); + ret = sizeof(sensor_mag_s); } } while (0); @@ -498,7 +498,7 @@ HMC5883::collect() uint8_t check_counter; perf_begin(_sample_perf); - struct mag_report new_report; + sensor_mag_s new_report; bool sensor_is_onboard = false; float xraw_f; diff --git a/src/drivers/magnetometer/hmc5883/HMC5883.hpp b/src/drivers/magnetometer/hmc5883/HMC5883.hpp index 3f5e245184..df86a5fa3d 100644 --- a/src/drivers/magnetometer/hmc5883/HMC5883.hpp +++ b/src/drivers/magnetometer/hmc5883/HMC5883.hpp @@ -158,7 +158,7 @@ private: enum Rotation _rotation; - struct mag_report _last_report {}; /**< used for info() */ + sensor_mag_s _last_report {}; /**< used for info() */ uint8_t _range_bits; uint8_t _conf_reg; diff --git a/src/drivers/magnetometer/ist8310/ist8310.cpp b/src/drivers/magnetometer/ist8310/ist8310.cpp index 3e64111eb5..00b37c6b56 100644 --- a/src/drivers/magnetometer/ist8310/ist8310.cpp +++ b/src/drivers/magnetometer/ist8310/ist8310.cpp @@ -428,7 +428,7 @@ IST8310::init() } /* allocate basic report buffers */ - _reports = new ringbuffer::RingBuffer(2, sizeof(mag_report)); + _reports = new ringbuffer::RingBuffer(2, sizeof(sensor_mag_s)); if (_reports == nullptr) { goto out; @@ -515,8 +515,8 @@ void IST8310::check_conf(void) ssize_t IST8310::read(struct file *filp, char *buffer, size_t buflen) { - unsigned count = buflen / sizeof(struct mag_report); - struct mag_report *mag_buf = reinterpret_cast(buffer); + unsigned count = buflen / sizeof(sensor_mag_s); + sensor_mag_s *mag_buf = reinterpret_cast(buffer); int ret = 0; /* buffer must be large enough */ @@ -533,7 +533,7 @@ IST8310::read(struct file *filp, char *buffer, size_t buflen) */ while (count--) { if (_reports->get(mag_buf)) { - ret += sizeof(struct mag_report); + ret += sizeof(sensor_mag_s); mag_buf++; } } @@ -563,7 +563,7 @@ IST8310::read(struct file *filp, char *buffer, size_t buflen) } if (_reports->get(mag_buf)) { - ret = sizeof(struct mag_report); + ret = sizeof(sensor_mag_s); } } while (0); @@ -781,7 +781,7 @@ IST8310::collect() uint8_t check_counter; perf_begin(_sample_perf); - struct mag_report new_report; + sensor_mag_s new_report; const bool sensor_is_external = external(); float xraw_f; @@ -899,7 +899,7 @@ out: int IST8310::calibrate(struct file *filp, unsigned enable) { - struct mag_report report {}; + sensor_mag_s report {}; ssize_t sz; int ret = 1; float total_x = 0.0f; @@ -1249,7 +1249,7 @@ void test(enum IST8310_BUS busid) { struct ist8310_bus_option &bus = find_bus(busid); - struct mag_report report {}; + sensor_mag_s report {}; ssize_t sz; int ret; const char *path = bus.devpath; diff --git a/src/drivers/magnetometer/lis3mdl/lis3mdl.cpp b/src/drivers/magnetometer/lis3mdl/lis3mdl.cpp index 81b0688c65..14451ae5f9 100644 --- a/src/drivers/magnetometer/lis3mdl/lis3mdl.cpp +++ b/src/drivers/magnetometer/lis3mdl/lis3mdl.cpp @@ -116,7 +116,7 @@ LIS3MDL::~LIS3MDL() int LIS3MDL::calibrate(struct file *file_pointer, unsigned enable) { - struct mag_report report; + sensor_mag_s report; ssize_t sz; int ret = 1; uint8_t num_samples = 10; @@ -348,7 +348,7 @@ LIS3MDL::collect() float yraw_f; float zraw_f; - struct mag_report new_mag_report; + sensor_mag_s new_mag_report; bool sensor_is_onboard = false; perf_begin(_sample_perf); @@ -477,7 +477,7 @@ LIS3MDL::init() } /* allocate basic report buffers */ - _reports = new ringbuffer::RingBuffer(2, sizeof(mag_report)); + _reports = new ringbuffer::RingBuffer(2, sizeof(sensor_mag_s)); if (_reports == nullptr) { return PX4_ERROR; @@ -631,8 +631,8 @@ LIS3MDL::reset() int LIS3MDL::read(struct file *file_pointer, char *buffer, size_t buffer_len) { - unsigned count = buffer_len / sizeof(struct mag_report); - struct mag_report *mag_buf = reinterpret_cast(buffer); + unsigned count = buffer_len / sizeof(sensor_mag_s); + sensor_mag_s *mag_buf = reinterpret_cast(buffer); int ret = 0; /* buffer must be large enough */ @@ -649,7 +649,7 @@ LIS3MDL::read(struct file *file_pointer, char *buffer, size_t buffer_len) */ while (count--) { if (_reports->get(mag_buf)) { - ret += sizeof(struct mag_report); + ret += sizeof(sensor_mag_s); mag_buf++; } } @@ -679,7 +679,7 @@ LIS3MDL::read(struct file *file_pointer, char *buffer, size_t buffer_len) } if (_reports->get(mag_buf)) { - ret = sizeof(struct mag_report); + ret = sizeof(sensor_mag_s); } } while (0); diff --git a/src/drivers/magnetometer/lis3mdl/lis3mdl.h b/src/drivers/magnetometer/lis3mdl/lis3mdl.h index f8512540e5..e7a818dc65 100644 --- a/src/drivers/magnetometer/lis3mdl/lis3mdl.h +++ b/src/drivers/magnetometer/lis3mdl/lis3mdl.h @@ -145,7 +145,7 @@ private: struct mag_calibration_s _scale; - struct mag_report _last_report {}; /**< used for info() */ + sensor_mag_s _last_report {}; /**< used for info() */ orb_advert_t _mag_topic; diff --git a/src/drivers/magnetometer/lis3mdl/lis3mdl_main.cpp b/src/drivers/magnetometer/lis3mdl/lis3mdl_main.cpp index 7bb3853d82..1f97269ade 100644 --- a/src/drivers/magnetometer/lis3mdl/lis3mdl_main.cpp +++ b/src/drivers/magnetometer/lis3mdl/lis3mdl_main.cpp @@ -160,7 +160,7 @@ lis3mdl::stop(struct lis3mdl_bus_option &bus) int lis3mdl::test(struct lis3mdl_bus_option &bus) { - struct mag_report report; + sensor_mag_s report; ssize_t sz; int ret; const char *path = bus.devpath; diff --git a/src/drivers/magnetometer/lsm303agr/LSM303AGR.cpp b/src/drivers/magnetometer/lsm303agr/LSM303AGR.cpp index 38d536b3bc..208670d30f 100644 --- a/src/drivers/magnetometer/lsm303agr/LSM303AGR.cpp +++ b/src/drivers/magnetometer/lsm303agr/LSM303AGR.cpp @@ -423,7 +423,7 @@ LSM303AGR::collect() /* start the performance counter */ perf_begin(_mag_sample_perf); - mag_report mag_report = {}; + sensor_mag_s mag_report = {}; mag_report.timestamp = hrt_absolute_time(); // switch to right hand coordinate system in place diff --git a/src/drivers/magnetometer/qmc5883/qmc5883.cpp b/src/drivers/magnetometer/qmc5883/qmc5883.cpp index afff2a87d1..e80f1a0102 100644 --- a/src/drivers/magnetometer/qmc5883/qmc5883.cpp +++ b/src/drivers/magnetometer/qmc5883/qmc5883.cpp @@ -181,7 +181,7 @@ private: enum Rotation _rotation; - struct mag_report _last_report {}; /**< used for info() */ + sensor_mag_s _last_report {}; /**< used for info() */ uint8_t _range_bits; uint8_t _conf_reg; @@ -330,7 +330,7 @@ QMC5883::init() } /* allocate basic report buffers */ - _reports = new ringbuffer::RingBuffer(2, sizeof(mag_report)); + _reports = new ringbuffer::RingBuffer(2, sizeof(sensor_mag_s)); if (_reports == nullptr) { goto out; @@ -378,8 +378,8 @@ void QMC5883::check_conf(void) ssize_t QMC5883::read(struct file *filp, char *buffer, size_t buflen) { - unsigned count = buflen / sizeof(struct mag_report); - struct mag_report *mag_buf = reinterpret_cast(buffer); + unsigned count = buflen / sizeof(sensor_mag_s); + sensor_mag_s *mag_buf = reinterpret_cast(buffer); int ret = 0; /* buffer must be large enough */ @@ -396,7 +396,7 @@ QMC5883::read(struct file *filp, char *buffer, size_t buflen) */ while (count--) { if (_reports->get(mag_buf)) { - ret += sizeof(struct mag_report); + ret += sizeof(sensor_mag_s); mag_buf++; } } @@ -420,7 +420,7 @@ QMC5883::read(struct file *filp, char *buffer, size_t buflen) } if (_reports->get(mag_buf)) { - ret = sizeof(struct mag_report); + ret = sizeof(sensor_mag_s); } } while (0); @@ -617,7 +617,7 @@ QMC5883::collect() uint8_t check_counter; perf_begin(_sample_perf); - struct mag_report new_report; + sensor_mag_s new_report; bool sensor_is_onboard = false; float xraw_f; @@ -953,7 +953,7 @@ void test(enum QMC5883_BUS busid) { struct qmc5883_bus_option &bus = find_bus(busid); - struct mag_report report; + sensor_mag_s report; ssize_t sz; int ret; const char *path = bus.devpath; diff --git a/src/drivers/magnetometer/rm3100/rm3100.cpp b/src/drivers/magnetometer/rm3100/rm3100.cpp index 8f14a489bb..1a890e52b2 100644 --- a/src/drivers/magnetometer/rm3100/rm3100.cpp +++ b/src/drivers/magnetometer/rm3100/rm3100.cpp @@ -192,7 +192,7 @@ RM3100::collect() float yraw_f; float zraw_f; - struct mag_report new_mag_report; + sensor_mag_s new_mag_report; bool sensor_is_onboard = false; perf_begin(_sample_perf); @@ -326,7 +326,7 @@ RM3100::init() } /* allocate basic report buffers */ - _reports = new ringbuffer::RingBuffer(2, sizeof(mag_report)); + _reports = new ringbuffer::RingBuffer(2, sizeof(sensor_mag_s)); if (_reports == nullptr) { return PX4_ERROR; @@ -500,8 +500,8 @@ RM3100::reset() int RM3100::read(struct file *file_pointer, char *buffer, size_t buffer_len) { - unsigned count = buffer_len / sizeof(struct mag_report); - struct mag_report *mag_buf = reinterpret_cast(buffer); + unsigned count = buffer_len / sizeof(sensor_mag_s); + sensor_mag_s *mag_buf = reinterpret_cast(buffer); int ret = 0; /* buffer must be large enough */ @@ -518,7 +518,7 @@ RM3100::read(struct file *file_pointer, char *buffer, size_t buffer_len) */ while (count--) { if (_reports->get(mag_buf)) { - ret += sizeof(struct mag_report); + ret += sizeof(sensor_mag_s); mag_buf++; } } @@ -548,7 +548,7 @@ RM3100::read(struct file *file_pointer, char *buffer, size_t buffer_len) } if (_reports->get(mag_buf)) { - ret = sizeof(struct mag_report); + ret = sizeof(sensor_mag_s); } } while (0); diff --git a/src/drivers/magnetometer/rm3100/rm3100.h b/src/drivers/magnetometer/rm3100/rm3100.h index a59a8d353a..434fbf0d7b 100644 --- a/src/drivers/magnetometer/rm3100/rm3100.h +++ b/src/drivers/magnetometer/rm3100/rm3100.h @@ -152,7 +152,7 @@ private: struct mag_calibration_s _scale; - struct mag_report _last_report {}; /**< used for info() */ + sensor_mag_s _last_report {}; /**< used for info() */ orb_advert_t _mag_topic; diff --git a/src/drivers/magnetometer/rm3100/rm3100_main.cpp b/src/drivers/magnetometer/rm3100/rm3100_main.cpp index 0cd673e886..29c4f0d7ca 100644 --- a/src/drivers/magnetometer/rm3100/rm3100_main.cpp +++ b/src/drivers/magnetometer/rm3100/rm3100_main.cpp @@ -154,7 +154,7 @@ bool rm3100::test(RM3100_BUS bus_id) { struct rm3100_bus_option &bus = find_bus(bus_id); - struct mag_report report; + sensor_mag_s report; ssize_t sz; int ret; const char *path = bus.devpath; diff --git a/src/drivers/qurt/fc_addon/mpu_spi/mpu9x50_main.cpp b/src/drivers/qurt/fc_addon/mpu_spi/mpu9x50_main.cpp index 6d31c63943..26fe8d17f0 100644 --- a/src/drivers/qurt/fc_addon/mpu_spi/mpu9x50_main.cpp +++ b/src/drivers/qurt/fc_addon/mpu_spi/mpu9x50_main.cpp @@ -98,7 +98,7 @@ static int _mag_orb_class_instance; /**< instance handle for mag devices static int _params_sub; /**< parameter update subscription */ static sensor_gyro_s _gyro; /**< gyro report */ static sensor_accel_s _accel; /**< accel report */ -static struct mag_report _mag; /**< mag report */ +static sensor_mag_s _mag; /**< mag report */ static struct gyro_calibration_s _gyro_sc; /**< gyro scale */ static struct accel_calibration_s _accel_sc; /**< accel scale */ static struct mag_calibration_s _mag_sc; /**< mag scale */ @@ -348,7 +348,7 @@ bool create_pubs() // initialize the reports memset(&_gyro, 0, sizeof(sensor_gyro_s)); memset(&_accel, 0, sizeof(sensor_accel_s)); - memset(&_mag, 0, sizeof(struct mag_report)); + memset(&_mag, 0, sizeof(sensor_mag_s)); _gyro_pub = orb_advertise_multi(ORB_ID(sensor_gyro), &_gyro, &_gyro_orb_class_instance, ORB_PRIO_HIGH - 1); diff --git a/src/modules/commander/mag_calibration.cpp b/src/modules/commander/mag_calibration.cpp index bb2781db8d..9a91593939 100644 --- a/src/modules/commander/mag_calibration.cpp +++ b/src/modules/commander/mag_calibration.cpp @@ -462,7 +462,7 @@ static calibrate_return mag_calibration_worker(detect_orientation_return orienta prev_count[cur_mag] = worker_data->calibration_counter_total[cur_mag]; if (worker_data->sub_mag[cur_mag] >= 0) { - struct mag_report mag; + sensor_mag_s mag{}; orb_copy(ORB_ID(sensor_mag), worker_data->sub_mag[cur_mag], &mag); @@ -606,7 +606,7 @@ calibrate_return mag_calibrate_all(orb_advert_t *mavlink_log_pub, int32_t cal_ma for (unsigned i = 0; i < orb_mag_count && !found_cur_mag; i++) { worker_data.sub_mag[cur_mag] = orb_subscribe_multi(ORB_ID(sensor_mag), i); - struct mag_report report; + sensor_mag_s report{}; orb_copy(ORB_ID(sensor_mag), worker_data.sub_mag[cur_mag], &report); #ifdef __PX4_NUTTX diff --git a/src/modules/sensors/voted_sensors_update.cpp b/src/modules/sensors/voted_sensors_update.cpp index 1b885f639f..2c264bcc57 100644 --- a/src/modules/sensors/voted_sensors_update.cpp +++ b/src/modules/sensors/voted_sensors_update.cpp @@ -417,7 +417,7 @@ void VotedSensorsUpdate::parametersUpdate() for (int topic_instance = 0; topic_instance < MAG_COUNT_MAX && topic_instance < _mag.subscription_count; ++topic_instance) { - struct mag_report report; + sensor_mag_s report; if (orb_copy(ORB_ID(sensor_mag), _mag.subscription[topic_instance], &report) != 0) { continue; @@ -779,7 +779,7 @@ void VotedSensorsUpdate::magPoll(vehicle_magnetometer_s &magnetometer) orb_check(_mag.subscription[uorb_index], &mag_updated); if (mag_updated) { - struct mag_report mag_report; + sensor_mag_s mag_report{}; int ret = orb_copy(ORB_ID(sensor_mag), _mag.subscription[uorb_index], &mag_report);