stop ignoring Wmissing-field-initializers and fix (#9912)

cmake/common/px4_base.cmake

@@ -404,7 +404,6 @@ function(px4_add_common_flags)
 		)
 
 	set(cxx_warnings
-		-Wno-missing-field-initializers
 		-Wno-overloaded-virtual # TODO: fix and remove
 		-Wreorder
 		)

platforms/posix/cmake/px4_impl_os.cmake

@@ -223,6 +223,9 @@ function(px4_os_add_flags)
 		list(APPEND added_c_flags --sysroot=${HEXAGON_ARM_SYSROOT})
 		list(APPEND added_cxx_flags --sysroot=${HEXAGON_ARM_SYSROOT})
 
+		# TODO: Wmissing-field-initializers ignored on older toolchain, can be removed eventually
+		list(APPEND added_cxx_flags -Wno-missing-field-initializers)
+
 		list(APPEND added_exe_linker_flags
 			-Wl,-rpath-link,${HEXAGON_ARM_SYSROOT}/usr/lib
 			-Wl,-rpath-link,${HEXAGON_ARM_SYSROOT}/lib
@@ -254,6 +257,9 @@ function(px4_os_add_flags)
 		list(APPEND added_c_flags ${RPI_COMPILE_FLAGS})
 		list(APPEND added_cxx_flags ${RPI_COMPILE_FLAGS})
 
+		# TODO: Wmissing-field-initializers ignored on older toolchain, can be removed eventually
+		list(APPEND added_cxx_flags -Wno-missing-field-initializers)
+
 		find_program(CXX_COMPILER_PATH ${CMAKE_CXX_COMPILER})
 
 		GET_FILENAME_COMPONENT(CXX_COMPILER_PATH ${CXX_COMPILER_PATH} DIRECTORY)
@@ -274,6 +280,9 @@ function(px4_os_add_flags)
 				-L${CXX_COMPILER_PATH}/arm-linux-gnueabihf/libc/usr/lib
 			)
 		ENDIF()
+	elseif ("${BOARD}" STREQUAL "bebop")
+		# TODO: Wmissing-field-initializers ignored on older toolchain, can be removed eventually
+		list(APPEND added_cxx_flags -Wno-missing-field-initializers)
 	endif()
 
 	# output

src/drivers/barometer/lps25h/lps25h.cpp

@@ -211,20 +211,20 @@ protected:
 	Device			*_interface;
 
 private:
-	work_s			_work;
+	work_s			_work{};
-	unsigned		_measure_ticks;
+	unsigned		_measure_ticks{0};
 
-	ringbuffer::RingBuffer	*_reports;
+	ringbuffer::RingBuffer	*_reports{nullptr};
-	bool			_collect_phase;
+	bool			_collect_phase{false};
 
-	orb_advert_t		_baro_topic;
+	orb_advert_t		_baro_topic{nullptr};
-	int			_orb_class_instance;
+	int			_orb_class_instance{-1};
-	int			_class_instance;
+	int			_class_instance{-1};
 
 	perf_counter_t		_sample_perf;
 	perf_counter_t		_comms_errors;
 
-	struct baro_report	_last_report;           /**< used for info() */
+	sensor_baro_s	_last_report{};           /**< used for info() */
 
 	/**
 	 * Initialise the automatic measurement state machine and start it.
@@ -311,28 +311,14 @@ extern "C" __EXPORT int lps25h_main(int argc, char *argv[]);
 LPS25H::LPS25H(device::Device *interface, const char *path) :
 	CDev("LPS25H", path),
 	_interface(interface),
-	_work{},
-	_measure_ticks(0),
-	_reports(nullptr),
-	_collect_phase(false),
-	_baro_topic(nullptr),
-	_orb_class_instance(-1),
-	_class_instance(-1),
 	_sample_perf(perf_alloc(PC_ELAPSED, "lps25h_read")),
-	_comms_errors(perf_alloc(PC_COUNT, "lps25h_comms_errors")),
+	_comms_errors(perf_alloc(PC_COUNT, "lps25h_comms_errors"))
-	_last_report{0}
 {
 	// set the device type from the interface
 	_device_id.devid_s.bus_type = _interface->get_device_bus_type();
 	_device_id.devid_s.bus = _interface->get_device_bus();
 	_device_id.devid_s.address = _interface->get_device_address();
 	_device_id.devid_s.devtype = DRV_BARO_DEVTYPE_LPS25H;
-
-	// enable debug() calls
-	_debug_enabled = false;
-
-	// work_cancel in the dtor will explode if we don't do this...
-	memset(&_work, 0, sizeof(_work));
 }
 
 LPS25H::~LPS25H()

src/drivers/camera_trigger/camera_trigger.cpp

@@ -483,20 +483,12 @@ CameraTrigger::stop()
 void
 CameraTrigger::test()
 {
-	struct vehicle_command_s cmd = {
+	vehicle_command_s vcmd = {};
-		.timestamp = hrt_absolute_time(),
+	vcmd.timestamp = hrt_absolute_time();
-		.param5 = 1.0,
+	vcmd.param5 = 1.0;
-		.param6 = 0.0,
+	vcmd.command = vehicle_command_s::VEHICLE_CMD_DO_DIGICAM_CONTROL;
-		.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);
+	orb_advertise_queue(ORB_ID(vehicle_command), &vcmd, vehicle_command_s::ORB_QUEUE_LENGTH);
-	(void)orb_unadvertise(pub);
 }
 
 void
@@ -722,16 +714,12 @@ CameraTrigger::cycle_trampoline(void *arg)
 
 	// Command ACK handling
 	if (updated && need_ack) {
-		vehicle_command_ack_s command_ack = {
+		vehicle_command_ack_s command_ack = {};
-			.timestamp = 0,
+		command_ack.timestamp = hrt_absolute_time();
-			.result_param2 = 0,
+		command_ack.command = cmd.command;
-			.command = cmd.command,
+		command_ack.result = (uint8_t)cmd_result;
-			.result = (uint8_t)cmd_result,
+		command_ack.target_system = cmd.source_system;
-			.from_external = false,
+		command_ack.target_component = cmd.source_component;
-			.result_param1 = 0,
-			.target_system = cmd.source_system,
-			.target_component = cmd.source_component
-		};
 
 		if (trig->_cmd_ack_pub == nullptr) {
 			trig->_cmd_ack_pub = orb_advertise_queue(ORB_ID(vehicle_command_ack), &command_ack,
@@ -739,7 +727,6 @@ CameraTrigger::cycle_trampoline(void *arg)
 
 		} else {
 			orb_publish(ORB_ID(vehicle_command_ack), trig->_cmd_ack_pub, &command_ack);
-
 		}
 	}
 
@@ -898,4 +885,3 @@ int camera_trigger_main(int argc, char *argv[])
 
 	return 0;
 }
-

src/drivers/magnetometer/ist8310/ist8310.cpp

@@ -207,17 +207,19 @@ protected:
 	virtual int probe();
 
 private:
-	work_s          _work;
+	work_s          _work{};
-	unsigned        _measure_ticks;
+	unsigned        _measure_ticks{0};
 
-	ringbuffer::RingBuffer  *_reports;
+	ringbuffer::RingBuffer  *_reports{nullptr};
-	struct mag_calibration_s    _scale;
-	float           _range_scale;
-	bool        _collect_phase;
-	int         _class_instance;
-	int         _orb_class_instance;
 
-	orb_advert_t        _mag_topic;
+	struct mag_calibration_s	_scale {};
+	float				_range_scale{0.003f}; /* default range scale from counts to gauss */
+
+	bool        _collect_phase{false};
+	int         _class_instance{-1};
+	int         _orb_class_instance{-1};
+
+	orb_advert_t        _mag_topic{nullptr};
 
 	perf_counter_t      _sample_perf;
 	perf_counter_t      _comms_errors;
@@ -225,16 +227,16 @@ private:
 	perf_counter_t      _conf_errors;
 
 	/* status reporting */
-	bool            _sensor_ok;         /**< sensor was found and reports ok */
+	bool			_sensor_ok{false};		/**< sensor was found and reports ok */
-	bool            _calibrated;        /**< the calibration is valid */
+	bool			_calibrated{false};		/**< the calibration is valid */
-	bool			_ctl_reg_mismatch;	/**< control register value mismatch after checking */
+	bool			_ctl_reg_mismatch{false};	/**< control register value mismatch after checking */
 
 	enum Rotation       _rotation;
 
-	struct mag_report   _last_report;           /**< used for info() */
+	sensor_mag_s   _last_report{};           /**< used for info() */
 
-	uint8_t 		_ctl3_reg;
+	uint8_t 		_ctl3_reg{0};
-	uint8_t			_ctl4_reg;
+	uint8_t			_ctl4_reg{0};
 
 	/**
 	 * Initialise the automatic measurement state machine and start it.
@@ -396,32 +398,14 @@ extern "C" __EXPORT int ist8310_main(int argc, char *argv[]);
 
 IST8310::IST8310(int bus_number, int address, const char *path, enum Rotation rotation) :
 	I2C("IST8310", path, bus_number, address, IST8310_DEFAULT_BUS_SPEED),
-	_work{},
-	_measure_ticks(0),
-	_reports(nullptr),
-	_scale{},
-	_range_scale(0.003), /* default range scale from counts to gauss */
-	_collect_phase(false),
-	_class_instance(-1),
-	_orb_class_instance(-1),
-	_mag_topic(nullptr),
 	_sample_perf(perf_alloc(PC_ELAPSED, "ist8310_read")),
 	_comms_errors(perf_alloc(PC_COUNT, "ist8310_com_err")),
 	_range_errors(perf_alloc(PC_COUNT, "ist8310_rng_err")),
 	_conf_errors(perf_alloc(PC_COUNT, "ist8310_conf_err")),
-	_sensor_ok(false),
+	_rotation(rotation)
-	_calibrated(false),
-	_ctl_reg_mismatch(false),
-	_rotation(rotation),
-	_last_report{0},
-	_ctl3_reg(0),
-	_ctl4_reg(0)
 {
 	_device_id.devid_s.devtype = DRV_MAG_DEVTYPE_IST8310;
 
-	// enable debug() calls
-	_debug_enabled = false;
-
 	// default scaling
 	_scale.x_offset = 0;
 	_scale.x_scale = 1.0f;
@@ -429,9 +413,6 @@ IST8310::IST8310(int bus_number, int address, const char *path, enum Rotation ro
 	_scale.y_scale = 1.0f;
 	_scale.z_offset = 0;
 	_scale.z_scale = 1.0f;
-
-	// work_cancel in the dtor will explode if we don't do this...
-	memset(&_work, 0, sizeof(_work));
 }
 
 IST8310::~IST8310()
@@ -1018,7 +999,7 @@ out:
 
 int IST8310::calibrate(struct file *filp, unsigned enable)
 {
-	struct mag_report report;
+	struct mag_report report {};
 	ssize_t sz;
 	int ret = 1;
 	float total_x = 0.0f;
@@ -1387,7 +1368,7 @@ void
 test(enum IST8310_BUS busid)
 {
 	struct ist8310_bus_option &bus = find_bus(busid);
-	struct mag_report report;
+	struct mag_report report {};
 	ssize_t sz;
 	int ret;
 	const char *path = bus.devpath;

src/drivers/px4io/px4io.cpp

@@ -733,27 +733,18 @@ PX4IO::init()
 		}
 
 		/* send command to arm system via command API */
-		struct vehicle_command_s cmd = {
+		vehicle_command_s vcmd = {};
-			.timestamp = hrt_absolute_time(),
+		vcmd.timestamp = hrt_absolute_time();
-			.param5 = 0.0f,
+		vcmd.param1 = 1.0f; /* request arming */
-			.param6 = 0.0f,
+		vcmd.command = vehicle_command_s::VEHICLE_CMD_COMPONENT_ARM_DISARM;
-			/* request arming */
+		vcmd.target_system = (uint8_t)sys_id;
-			.param1 = 1.0f,
+		vcmd.target_component = (uint8_t)comp_id;
-			.param2 = 0.0f,
+		vcmd.source_system = (uint8_t)sys_id;
-			.param3 = 0.0f,
+		vcmd.source_component = (uint8_t)comp_id;
-			.param4 = 0.0f,
+		vcmd.confirmation = true; /* ask to confirm command */
-			.param7 = 0.0f,
-			.command = vehicle_command_s::VEHICLE_CMD_COMPONENT_ARM_DISARM,
-			.target_system = (uint8_t)sys_id,
-			.target_component = (uint8_t)comp_id,
-			.source_system = (uint8_t)sys_id,
-			.source_component = (uint8_t)comp_id,
-			/* ask to confirm command */
-			.confirmation = 1
-		};
 
 		/* send command once */
-		orb_advert_t pub = orb_advertise_queue(ORB_ID(vehicle_command), &cmd, vehicle_command_s::ORB_QUEUE_LENGTH);
+		orb_advert_t pub = orb_advertise_queue(ORB_ID(vehicle_command), &vcmd, vehicle_command_s::ORB_QUEUE_LENGTH);
 
 		/* spin here until IO's state has propagated into the system */
 		do {
@@ -774,7 +765,7 @@ PX4IO::init()
 
 			/* re-send if necessary */
 			if (!safety.armed) {
-				orb_publish(ORB_ID(vehicle_command), pub, &cmd);
+				orb_publish(ORB_ID(vehicle_command), pub, &vcmd);
 				DEVICE_LOG("re-sending arm cmd");
 			}
 

src/drivers/vmount/input_mavlink.cpp

@@ -332,16 +332,13 @@ int InputMavlinkCmdMount::update_impl(unsigned int timeout_ms, ControlData **con
 
 void InputMavlinkCmdMount::_ack_vehicle_command(vehicle_command_s *cmd)
 {
-	vehicle_command_ack_s vehicle_command_ack = {
+	vehicle_command_ack_s vehicle_command_ack = {};
-		.timestamp = hrt_absolute_time(),
+
-		.result_param2 = 0,
+	vehicle_command_ack.timestamp = hrt_absolute_time();
-		.command = cmd->command,
+	vehicle_command_ack.command = cmd->command;
-		.result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED,
+	vehicle_command_ack.result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
-		.from_external = false,
+	vehicle_command_ack.target_system = cmd->source_system;
-		.result_param1 = 0,
+	vehicle_command_ack.target_component = cmd->source_component;
-		.target_system = cmd->source_system,
-		.target_component = cmd->source_component
-	};
 
 	if (_vehicle_command_ack_pub == nullptr) {
 		_vehicle_command_ack_pub = orb_advertise_queue(ORB_ID(vehicle_command_ack), &vehicle_command_ack,
@@ -350,7 +347,6 @@ void InputMavlinkCmdMount::_ack_vehicle_command(vehicle_command_s *cmd)
 	} else {
 		orb_publish(ORB_ID(vehicle_command_ack), _vehicle_command_ack_pub, &vehicle_command_ack);
 	}
-
 }
 
 void InputMavlinkCmdMount::print_status()

src/drivers/vmount/output_mavlink.cpp

@@ -61,19 +61,10 @@ OutputMavlink::~OutputMavlink()
 
 int OutputMavlink::update(const ControlData *control_data)
 {
-	vehicle_command_s vehicle_command = {
+	vehicle_command_s vehicle_command = {};
-		.timestamp = 0,
+	vehicle_command.timestamp = hrt_absolute_time();
-		.param5 = 0.0,
+	vehicle_command.target_system = (uint8_t)_config.mavlink_sys_id;
-		.param6 = 0.0,
+	vehicle_command.target_component = (uint8_t)_config.mavlink_comp_id;
-		.param1 = 0.0f,
-		.param2 = 0.0f,
-		.param3 = 0.0f,
-		.param4 = 0.0f,
-		.param7 = 0.0f,
-		.command = 0,
-		.target_system = (uint8_t)_config.mavlink_sys_id,
-		.target_component = (uint8_t)_config.mavlink_comp_id,
-	};
 
 	if (control_data) {
 		//got new command

src/examples/uuv_example_app/uuv_example_app.cpp

@@ -88,10 +88,11 @@ int uuv_example_app_main(int argc, char *argv[])
 	orb_advert_t act_pub = orb_advertise(ORB_ID(actuator_controls_0), &act);
 
 	/* one could wait for multiple topics with this technique, just using one here */
-	px4_pollfd_struct_t fds[] = {
+	px4_pollfd_struct_t fds[2] = {};
-		{ .fd = sensor_sub_fd,   .events = POLLIN },
+	fds[0].fd = sensor_sub_fd;
-		{ .fd = vehicle_attitude_sub_fd,   .events = POLLIN },
+	fds[0].events = POLLIN;
-	};
+	fds[1].fd = vehicle_attitude_sub_fd;
+	fds[1].events = POLLIN;
 
 	int error_counter = 0;
 

src/lib/FlightTasks/tasks/FlightTask.cpp

@@ -4,7 +4,7 @@
 constexpr uint64_t FlightTask::_timeout;
 // First index of empty_setpoint corresponds to time-stamp and requires a finite number.
 const vehicle_local_position_setpoint_s FlightTask::empty_setpoint = {0, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, NAN, {NAN, NAN, NAN}};
-const vehicle_constraints_s FlightTask::empty_constraints = {0, NAN, NAN, NAN};
+const vehicle_constraints_s FlightTask::empty_constraints = {0, NAN, NAN, NAN, NAN, NAN, NAN, NAN, vehicle_constraints_s::GEAR_KEEP, {}};
 bool FlightTask::initializeSubscriptions(SubscriptionArray &subscription_array)
 {
 	if (!subscription_array.get(ORB_ID(vehicle_local_position), _sub_vehicle_local_position)) {

src/lib/drivers/device/nuttx/cdev_platform.cpp

@@ -78,7 +78,10 @@ read	: cdev_read,
 write	: cdev_write,
 seek	: cdev_seek,
 ioctl	: cdev_ioctl,
-poll	: cdev_poll
+poll	: cdev_poll,
+#ifndef CONFIG_DISABLE_PSEUDOFS_OPERATIONS
+unlink	: nullptr
+#endif
 };
 
 static int

src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp

@@ -429,16 +429,12 @@ void AttitudeEstimatorQ::task_main()
 		last_time = now;
 
 		if (update(dt)) {
-			vehicle_attitude_s att = {
+			vehicle_attitude_s att = {};
-				.timestamp = sensors.timestamp,
+			att.timestamp = sensors.timestamp;
-				.rollspeed = _rates(0),
+			att.rollspeed = _rates(0);
-				.pitchspeed = _rates(1),
+			att.pitchspeed = _rates(1);
-				.yawspeed = _rates(2),
+			att.yawspeed = _rates(2);
-
+			_q.copyTo(att.q);
-				.q = {_q(0), _q(1), _q(2), _q(3)},
-				.delta_q_reset = {},
-				.quat_reset_counter = 0,
-			};
 
 			/* the instance count is not used here */
 			int att_inst;

src/modules/commander/arm_auth.cpp

@@ -78,23 +78,15 @@ static uint8_t (*arm_check_method[ARM_AUTH_METHOD_LAST])() = {
 
 static void arm_auth_request_msg_send()
 {
-	struct vehicle_command_s cmd = {
+	vehicle_command_s vcmd = {};
-		.timestamp = 0,
+	vcmd.timestamp = hrt_absolute_time();
-		.param5 = 0,
+	vcmd.command = vehicle_command_s::VEHICLE_CMD_ARM_AUTHORIZATION_REQUEST;
-		.param6 = 0,
+	vcmd.target_system = arm_parameters.authorizer_system_id;
-		.param1 = 0,
-		.param2 = 0,
-		.param3 = 0,
-		.param4 = 0,
-		.param7 = 0,
-		.command = vehicle_command_s::VEHICLE_CMD_ARM_AUTHORIZATION_REQUEST,
-		.target_system = arm_parameters.authorizer_system_id
-	};
 
 	if (handle_vehicle_command_pub == nullptr) {
-		handle_vehicle_command_pub = orb_advertise(ORB_ID(vehicle_command), &cmd);
+		handle_vehicle_command_pub = orb_advertise(ORB_ID(vehicle_command), &vcmd);
 	} else {
-		orb_publish(ORB_ID(vehicle_command), handle_vehicle_command_pub, &cmd);
+		orb_publish(ORB_ID(vehicle_command), handle_vehicle_command_pub, &vcmd);
 	}
 }
 

src/modules/commander/commander.cpp

@@ -263,6 +263,26 @@ static int power_button_state_notification_cb(board_power_button_state_notificat
 	return ret;
 }
 
+static bool send_vehicle_command(uint16_t cmd, float param1 = NAN, float param2 = NAN)
+{
+	vehicle_command_s vcmd = {};
+	vcmd.timestamp = hrt_absolute_time();
+	vcmd.param1 = param1;
+	vcmd.param2 = param2;
+	vcmd.param3 = NAN;
+	vcmd.param4 = NAN;
+	vcmd.param5 = (double)NAN;
+	vcmd.param6 = (double)NAN;
+	vcmd.param7 = NAN;
+	vcmd.command = vehicle_command_s::VEHICLE_CMD_NAV_TAKEOFF;
+	vcmd.target_system = status.system_id;
+	vcmd.target_component = status.component_id;
+
+	orb_advert_t h = orb_advertise_queue(ORB_ID(vehicle_command), &vcmd, vehicle_command_s::ORB_QUEUE_LENGTH);
+
+	return (h != nullptr);
+}
+
 int commander_main(int argc, char *argv[])
 {
 	if (argc < 2) {
@@ -273,7 +293,7 @@ int commander_main(int argc, char *argv[])
 	if (!strcmp(argv[1], "start")) {
 
 		if (thread_running) {
-			warnx("already running");
+			PX4_INFO("already running");
 			/* this is not an error */
 			return 0;
 		}
@@ -299,7 +319,7 @@ int commander_main(int argc, char *argv[])
 	if (!strcmp(argv[1], "stop")) {
 
 		if (!thread_running) {
-			warnx("commander already stopped");
+			PX4_WARN("already stopped");
 			return 0;
 		}
 
@@ -307,14 +327,14 @@ int commander_main(int argc, char *argv[])
 
 		Commander::main(argc, argv);
 
-		warnx("terminated.");
+		PX4_INFO("terminated.");
 
 		return 0;
 	}
 
 	/* commands needing the app to run below */
 	if (!thread_running) {
-		warnx("\tcommander not started");
+		PX4_ERR("not started");
 		return 1;
 	}
 
@@ -339,17 +359,17 @@ int commander_main(int argc, char *argv[])
 			} else if (!strcmp(argv[2], "airspeed")) {
 				calib_ret = do_airspeed_calibration(&mavlink_log_pub);
 			} else {
-				warnx("argument %s unsupported.", argv[2]);
+				PX4_ERR("argument %s unsupported.", argv[2]);
 			}
 
 			if (calib_ret) {
-				warnx("calibration failed, exiting.");
+				PX4_ERR("calibration failed, exiting.");
 				return 1;
 			} else {
 				return 0;
 			}
 		} else {
-			warnx("missing argument");
+			PX4_ERR("missing argument");
 		}
 	}
 
@@ -365,98 +385,51 @@ int commander_main(int argc, char *argv[])
 
 	if (!strcmp(argv[1], "arm")) {
 		if (TRANSITION_CHANGED != arm_disarm(true, &mavlink_log_pub, "command line")) {
-			warnx("arming failed");
+			PX4_ERR("arming failed");
 		}
 		return 0;
 	}
 
 	if (!strcmp(argv[1], "disarm")) {
 		if (TRANSITION_DENIED == arm_disarm(false, &mavlink_log_pub, "command line")) {
-			warnx("rejected disarm");
+			PX4_ERR("rejected disarm");
 		}
 		return 0;
 	}
 
 	if (!strcmp(argv[1], "takeoff")) {
 
+		bool ret = false;
+
 		/* see if we got a home position */
 		if (status_flags.condition_local_position_valid) {
 
 			if (TRANSITION_DENIED != arm_disarm(true, &mavlink_log_pub, "command line")) {
-
+				ret = send_vehicle_command(vehicle_command_s::VEHICLE_CMD_NAV_TAKEOFF);
-				struct vehicle_command_s cmd = {
-					.timestamp = hrt_absolute_time(),
-					.param5 = (double)NAN,
-					.param6 = (double)NAN,
-					/* minimum pitch */
-					.param1 = NAN,
-					.param2 = NAN,
-					.param3 = NAN,
-					.param4 = NAN,
-					.param7 = NAN,
-					.command = vehicle_command_s::VEHICLE_CMD_NAV_TAKEOFF,
-					.target_system = status.system_id,
-					.target_component = status.component_id
-				};
-
-				orb_advert_t h = orb_advertise_queue(ORB_ID(vehicle_command), &cmd, vehicle_command_s::ORB_QUEUE_LENGTH);
-				(void)orb_unadvertise(h);
 
 			} else {
-				warnx("arming failed");
+				PX4_ERR("arming failed");
 			}
 
 		} else {
-			warnx("rejecting takeoff, no position lock yet. Please retry..");
+			PX4_ERR("rejecting takeoff, no position lock yet. Please retry..");
 		}
 
-		return 0;
+		return (ret ? 0 : 1);
 	}
 
 	if (!strcmp(argv[1], "land")) {
+		bool ret = send_vehicle_command(vehicle_command_s::VEHICLE_CMD_NAV_LAND);
 
-		struct vehicle_command_s cmd = {
+		return (ret ? 0 : 1);
-			.timestamp = 0,
-			.param5 = (double)NAN,
-			.param6 = (double)NAN,
-			/* minimum pitch */
-			.param1 = NAN,
-			.param2 = NAN,
-			.param3 = NAN,
-			.param4 = NAN,
-			.param7 = NAN,
-			.command = vehicle_command_s::VEHICLE_CMD_NAV_LAND,
-			.target_system = status.system_id,
-			.target_component = status.component_id
-		};
-
-		orb_advert_t h = orb_advertise_queue(ORB_ID(vehicle_command), &cmd, vehicle_command_s::ORB_QUEUE_LENGTH);
-		(void)orb_unadvertise(h);
-
-		return 0;
 	}
 
 	if (!strcmp(argv[1], "transition")) {
 
-		struct vehicle_command_s cmd = {
+		bool ret = send_vehicle_command(vehicle_command_s::VEHICLE_CMD_DO_VTOL_TRANSITION,
-			.timestamp = 0,
+				(float)(status.is_rotary_wing ? vtol_vehicle_status_s::VEHICLE_VTOL_STATE_FW : vtol_vehicle_status_s::VEHICLE_VTOL_STATE_MC));
-			.param5 = (double)NAN,
-			.param6 = (double)NAN,
-			/* transition to the other mode */
-			.param1 = (float)((status.is_rotary_wing) ? vtol_vehicle_status_s::VEHICLE_VTOL_STATE_FW : vtol_vehicle_status_s::VEHICLE_VTOL_STATE_MC),
-			.param2 = NAN,
-			.param3 = NAN,
-			.param4 = NAN,
-			.param7 = NAN,
-			.command = vehicle_command_s::VEHICLE_CMD_DO_VTOL_TRANSITION,
-			.target_system = status.system_id,
-			.target_component = status.component_id
-		};
 
-		orb_advert_t h = orb_advertise_queue(ORB_ID(vehicle_command), &cmd, vehicle_command_s::ORB_QUEUE_LENGTH);
+		return (ret ? 0 : 1);
-		(void)orb_unadvertise(h);
-
-		return 0;
 	}
 
 	if (!strcmp(argv[1], "mode")) {
@@ -489,16 +462,16 @@ int commander_main(int argc, char *argv[])
 			} else if (!strcmp(argv[2], "auto:precland")) {
 				new_main_state = commander_state_s::MAIN_STATE_AUTO_PRECLAND;
 			} else {
-				warnx("argument %s unsupported.", argv[2]);
+				PX4_ERR("argument %s unsupported.", argv[2]);
 			}
 
 			if (TRANSITION_DENIED == main_state_transition(status, new_main_state, status_flags, &internal_state)) {
-				warnx("mode change failed");
+				PX4_ERR("mode change failed");
 			}
 			return 0;
 
 		} else {
-			warnx("missing argument");
+			PX4_ERR("missing argument");
 		}
 	}
 
@@ -509,25 +482,10 @@ int commander_main(int argc, char *argv[])
 			return 1;
 		}
 
-		struct vehicle_command_s cmd = {
+		bool ret = send_vehicle_command(vehicle_command_s::VEHICLE_CMD_DO_FLIGHTTERMINATION,
-			.timestamp = 0,
+				strcmp(argv[2], "off") ? 2.0f : 0.0f /* lockdown */, 0.0f);
-			.param5 = 0.0,
-			.param6 = 0.0,
-			/* if the comparison matches for off (== 0) set 0.0f, 2.0f (on) else */
-			.param1 = strcmp(argv[2], "off") ? 2.0f : 0.0f, /* lockdown */
-			.param2 = 0.0f,
-			.param3 = 0.0f,
-			.param4 = 0.0f,
-			.param7 = 0.0f,
-			.command = vehicle_command_s::VEHICLE_CMD_DO_FLIGHTTERMINATION,
-			.target_system = status.system_id,
-			.target_component = status.component_id
-		};
 
-		orb_advert_t h = orb_advertise_queue(ORB_ID(vehicle_command), &cmd, vehicle_command_s::ORB_QUEUE_LENGTH);
+		return (ret ? 0 : 1);
-		(void)orb_unadvertise(h);
-
-		return 0;
 	}
 
 	usage("unrecognized command");
@@ -3700,23 +3658,18 @@ void answer_command(const vehicle_command_s &cmd, unsigned result, orb_advert_t
 	}
 
 	/* publish ACK */
-	vehicle_command_ack_s command_ack = {
+	vehicle_command_ack_s command_ack = {};
-		.timestamp = 0,
+	command_ack.timestamp = hrt_absolute_time();
-		.result_param2 = 0,
+	command_ack.command = cmd.command;
-		.command = cmd.command,
+	command_ack.result = (uint8_t)result;
-		.result = (uint8_t)result,
+	command_ack.target_system = cmd.source_system;
-		.from_external = false,
+	command_ack.target_component = cmd.source_component;
-		.result_param1 = 0,
-		.target_system = cmd.source_system,
-		.target_component = cmd.source_component
-	};
 
 	if (command_ack_pub != nullptr) {
 		orb_publish(ORB_ID(vehicle_command_ack), command_ack_pub, &command_ack);
 
 	} else {
-		command_ack_pub = orb_advertise_queue(ORB_ID(vehicle_command_ack), &command_ack,
+		command_ack_pub = orb_advertise_queue(ORB_ID(vehicle_command_ack), &command_ack, vehicle_command_ack_s::ORB_QUEUE_LENGTH);
-						      vehicle_command_ack_s::ORB_QUEUE_LENGTH);
 	}
 }
 

src/modules/events/send_event.cpp

@@ -194,16 +194,12 @@ void SendEvent::process_commands()
 void SendEvent::answer_command(const vehicle_command_s &cmd, unsigned result)
 {
 	/* publish ACK */
-	struct vehicle_command_ack_s command_ack = {
+	vehicle_command_ack_s command_ack = {};
-		.timestamp = hrt_absolute_time(),
+	command_ack.timestamp = hrt_absolute_time();
-		.result_param2 = 0,
+	command_ack.command = cmd.command;
-		.command = cmd.command,
+	command_ack.result = (uint8_t)result;
-		.result = (uint8_t)result,
+	command_ack.target_system = cmd.source_system;
-		.from_external = false,
+	command_ack.target_component = cmd.source_component;
-		.result_param1 = 0,
-		.target_system = cmd.source_system,
-		.target_component = cmd.source_component
-	};
 
 	if (_command_ack_pub != nullptr) {
 		orb_publish(ORB_ID(vehicle_command_ack), _command_ack_pub, &command_ack);
@@ -214,8 +210,6 @@ void SendEvent::answer_command(const vehicle_command_s &cmd, unsigned result)
 	}
 }
 
-
-
 int SendEvent::print_usage(const char *reason)
 {
 	if (reason) {
@@ -287,20 +281,18 @@ int SendEvent::custom_command(int argc, char *argv[])
 			}
 		}
 
-		struct vehicle_command_s cmd = {
+		vehicle_command_s vcmd = {};
-			.timestamp = 0,
+		vcmd.timestamp = hrt_absolute_time();
-			.param5 = ((accel_calib || calib_all) ? vehicle_command_s::PREFLIGHT_CALIBRATION_TEMPERATURE_CALIBRATION : (double)NAN),
+		vcmd.param1 = (float)((gyro_calib || calib_all) ? vehicle_command_s::PREFLIGHT_CALIBRATION_TEMPERATURE_CALIBRATION : NAN);
-			.param6 = (double)NAN,
+		vcmd.param2 = NAN;
-			.param1 = (float)((gyro_calib || calib_all) ? vehicle_command_s::PREFLIGHT_CALIBRATION_TEMPERATURE_CALIBRATION : NAN),
+		vcmd.param3 = NAN;
-			.param2 = NAN,
+		vcmd.param4 = NAN;
-			.param3 = NAN,
+		vcmd.param5 = ((accel_calib || calib_all) ? vehicle_command_s::PREFLIGHT_CALIBRATION_TEMPERATURE_CALIBRATION : (double)NAN);
-			.param4 = NAN,
+		vcmd.param6 = (double)NAN;
-			.param7 = (float)((baro_calib || calib_all) ? vehicle_command_s::PREFLIGHT_CALIBRATION_TEMPERATURE_CALIBRATION : NAN),
+		vcmd.param7 = (float)((baro_calib || calib_all) ? vehicle_command_s::PREFLIGHT_CALIBRATION_TEMPERATURE_CALIBRATION : NAN);
-			.command = vehicle_command_s::VEHICLE_CMD_PREFLIGHT_CALIBRATION
+		vcmd.command = vehicle_command_s::VEHICLE_CMD_PREFLIGHT_CALIBRATION;
-		};
 
-		orb_advert_t h = orb_advertise_queue(ORB_ID(vehicle_command), &cmd, vehicle_command_s::ORB_QUEUE_LENGTH);
+		orb_advertise_queue(ORB_ID(vehicle_command), &vcmd, vehicle_command_s::ORB_QUEUE_LENGTH);
-		(void)orb_unadvertise(h);
 
 	} else {
 		print_usage("unrecognized command");

src/modules/logger/logger.cpp

@@ -2228,25 +2228,18 @@ int Logger::remove_directory(const char *dir)
 
 void Logger::ack_vehicle_command(orb_advert_t &vehicle_command_ack_pub, vehicle_command_s *cmd, uint32_t result)
 {
-	vehicle_command_ack_s vehicle_command_ack = {
+	vehicle_command_ack_s vehicle_command_ack = {};
-		.timestamp = hrt_absolute_time(),
+	vehicle_command_ack.timestamp = hrt_absolute_time();
-		.result_param2 = 0,
+	vehicle_command_ack.command = cmd->command;
-		.command = cmd->command,
+	vehicle_command_ack.result = (uint8_t)result;
-		.result = (uint8_t)result,
+	vehicle_command_ack.target_system = cmd->source_system;
-		.from_external = false,
+	vehicle_command_ack.target_component = cmd->source_component;
-		.result_param1 = 0,
-		.target_system = cmd->source_system,
-		.target_component = cmd->source_component
-	};
 
 	if (vehicle_command_ack_pub == nullptr) {
-		vehicle_command_ack_pub = orb_advertise_queue(ORB_ID(vehicle_command_ack), &vehicle_command_ack,
+		vehicle_command_ack_pub = orb_advertise_queue(ORB_ID(vehicle_command_ack), &vehicle_command_ack, vehicle_command_ack_s::ORB_QUEUE_LENGTH);
-					  vehicle_command_ack_s::ORB_QUEUE_LENGTH);
-
 	} else {
 		orb_publish(ORB_ID(vehicle_command_ack), vehicle_command_ack_pub, &vehicle_command_ack);
 	}
-
 }
 
 } // namespace logger

src/modules/mavlink/mavlink_main.cpp

@@ -2288,16 +2288,13 @@ Mavlink::task_main(int argc, char *argv[])
 				}
 
 				// send positive command ack
-				struct vehicle_command_ack_s command_ack = {
+				vehicle_command_ack_s command_ack = {};
-					.timestamp = vehicle_cmd.timestamp,
+				command_ack.timestamp = vehicle_cmd.timestamp;
-					.result_param2 = 0,
+				command_ack.command = vehicle_cmd.command;
-					.command = vehicle_cmd.command,
+				command_ack.result = vehicle_command_ack_s::VEHICLE_RESULT_ACCEPTED;
-					.result = vehicle_command_ack_s::VEHICLE_RESULT_ACCEPTED,
+				command_ack.from_external = !vehicle_cmd.from_external;
-					.from_external = !vehicle_cmd.from_external,
+				command_ack.target_system = vehicle_cmd.source_system;
-					.result_param1 = 0,
+				command_ack.target_component = vehicle_cmd.source_component;
-					.target_system = vehicle_cmd.source_system,
-					.target_component = vehicle_cmd.source_component
-				};
 
 				if (command_ack_pub != nullptr) {
 					orb_publish(ORB_ID(vehicle_command_ack), command_ack_pub, &command_ack);

src/modules/mavlink/mavlink_messages.cpp

@@ -1551,25 +1551,24 @@ protected:
 
 				mavlink_msg_camera_trigger_send_struct(_mavlink->get_channel(), &msg);
 
-				struct vehicle_command_s cmd = {
+				vehicle_command_s vcmd = {};
-					.timestamp = 0,
+				vcmd.timestamp = hrt_absolute_time();
-					.param5 = (double)NAN,
+				vcmd.param1 = 0.0f; // all cameras
-					.param6 = (double)NAN,
+				vcmd.param2 = 0.0f; // duration 0 because only taking one picture
-					.param1 = 0.0f, // all cameras
+				vcmd.param3 = 1.0f; // only take one
-					.param2 = 0.0f, // duration 0 because only taking one picture
+				vcmd.param4 = NAN;
-					.param3 = 1.0f, // only take one
+				vcmd.param5 = (double)NAN;
-					.param4 = NAN,
+				vcmd.param6 = (double)NAN;
-					.param7 = NAN,
+				vcmd.param7 = NAN;
-					.command = MAV_CMD_IMAGE_START_CAPTURE,
+				vcmd.command = MAV_CMD_IMAGE_START_CAPTURE;
-					.target_system = mavlink_system.sysid,
+				vcmd.target_system = mavlink_system.sysid;
-					.target_component = MAV_COMP_ID_CAMERA
+				vcmd.target_component = MAV_COMP_ID_CAMERA;
-				};
 
-				MavlinkCommandSender::instance().handle_vehicle_command(cmd, _mavlink->get_channel());
+				MavlinkCommandSender::instance().handle_vehicle_command(vcmd, _mavlink->get_channel());
 
 				// TODO: move this camera_trigger and publish as a vehicle_command
 				/* send MAV_CMD_DO_DIGICAM_CONTROL*/
-				mavlink_command_long_t digicam_ctrl_cmd;
+				mavlink_command_long_t digicam_ctrl_cmd = {};
 
 				digicam_ctrl_cmd.target_system = 0; // 0 for broadcast
 				digicam_ctrl_cmd.target_component = MAV_COMP_ID_CAMERA;

src/modules/mavlink/mavlink_receiver.cpp

@@ -174,16 +174,12 @@ MavlinkReceiver::~MavlinkReceiver()
 
 void MavlinkReceiver::acknowledge(uint8_t sysid, uint8_t compid, uint16_t command, uint8_t result)
 {
-	vehicle_command_ack_s command_ack = {
+	vehicle_command_ack_s command_ack = {};
-		.timestamp = hrt_absolute_time(),
+	command_ack.timestamp = hrt_absolute_time();
-		.result_param2 = 0,
+	command_ack.command = command;
-		.command = command,
+	command_ack.result = result;
-		.result = result,
+	command_ack.target_system = sysid;
-		.from_external = false,
+	command_ack.target_component = compid;
-		.result_param1 = 0,
-		.target_system = sysid,
-		.target_component = compid
-	};
 
 	if (_command_ack_pub == nullptr) {
 		_command_ack_pub = orb_advertise_queue(ORB_ID(vehicle_command_ack), &command_ack,
@@ -490,24 +486,25 @@ MavlinkReceiver::handle_message_command_long(mavlink_message_t *msg)
 	mavlink_command_long_t cmd_mavlink;
 	mavlink_msg_command_long_decode(msg, &cmd_mavlink);
 
-	struct vehicle_command_s vcmd = {
+	vehicle_command_s vcmd = {};
-		.timestamp = hrt_absolute_time(),
+	vcmd.timestamp = hrt_absolute_time();
-		.param5 = (double)cmd_mavlink.param5,
+
-		.param6 = (double)cmd_mavlink.param6,
 	/* Copy the content of mavlink_command_long_t cmd_mavlink into command_t cmd */
-		.param1 = cmd_mavlink.param1,
+	vcmd.param1 = cmd_mavlink.param1;
-		.param2 = cmd_mavlink.param2,
+	vcmd.param2 = cmd_mavlink.param2;
-		.param3 = cmd_mavlink.param3,
+	vcmd.param3 = cmd_mavlink.param3;
-		.param4 = cmd_mavlink.param4,
+	vcmd.param4 = cmd_mavlink.param4;
-		.param7 = cmd_mavlink.param7,
+	vcmd.param5 = (double)cmd_mavlink.param5;
-		.command = cmd_mavlink.command,
+	vcmd.param6 = (double)cmd_mavlink.param6;
-		.target_system = cmd_mavlink.target_system,
+	vcmd.param7 = cmd_mavlink.param7;
-		.target_component = cmd_mavlink.target_component,
+	vcmd.command = cmd_mavlink.command;
-		.source_system = msg->sysid,
+	vcmd.target_system = cmd_mavlink.target_system;
-		.source_component = msg->compid,
+	vcmd.target_component = cmd_mavlink.target_component;
-		.confirmation = cmd_mavlink.confirmation,
+	vcmd.source_system = msg->sysid;
-		.from_external = true
+	vcmd.source_component = msg->compid;
-	};
+	vcmd.confirmation = cmd_mavlink.confirmation;
+	vcmd.from_external = true;
+
 	handle_message_command_both(msg, cmd_mavlink, vcmd);
 }
 
@@ -518,30 +515,28 @@ MavlinkReceiver::handle_message_command_int(mavlink_message_t *msg)
 	mavlink_command_int_t cmd_mavlink;
 	mavlink_msg_command_int_decode(msg, &cmd_mavlink);
 
-	struct vehicle_command_s vcmd = {
+	vehicle_command_s vcmd = {};
-		.timestamp = hrt_absolute_time(),
+	vcmd.timestamp = hrt_absolute_time();
-		/* these are coordinates as 1e7 scaled integers to work around the 32 bit floating point limits */
+
-		.param5 = ((double)cmd_mavlink.x) / 1e7,
-		.param6 = ((double)cmd_mavlink.y) / 1e7,
 	/* Copy the content of mavlink_command_int_t cmd_mavlink into command_t cmd */
-		.param1 = cmd_mavlink.param1,
+	vcmd.param1 = cmd_mavlink.param1;
-		.param2 = cmd_mavlink.param2,
+	vcmd.param2 = cmd_mavlink.param2;
-		.param3 = cmd_mavlink.param3,
+	vcmd.param3 = cmd_mavlink.param3;
-		.param4 = cmd_mavlink.param4,
+	vcmd.param4 = cmd_mavlink.param4;
-		.param7 = cmd_mavlink.z,
+	vcmd.param5 = ((double)cmd_mavlink.x) / 1e7;
-		.command = cmd_mavlink.command,
+	vcmd.param6 = ((double)cmd_mavlink.y) / 1e7;
-		.target_system = cmd_mavlink.target_system,
+	vcmd.param7 = cmd_mavlink.z;
-		.target_component = cmd_mavlink.target_component,
+	vcmd.command = cmd_mavlink.command;
-		.source_system = msg->sysid,
+	vcmd.target_system = cmd_mavlink.target_system;
-		.source_component = msg->compid,
+	vcmd.target_component = cmd_mavlink.target_component;
-		.confirmation = false,
+	vcmd.source_system = msg->sysid;
-		.from_external = true
+	vcmd.source_component = msg->compid;
-	};
+	vcmd.confirmation = false;
+	vcmd.from_external = true;
 
 	handle_message_command_both(msg, cmd_mavlink, vcmd);
 }
 
-
 template <class T>
 void MavlinkReceiver::handle_message_command_both(mavlink_message_t *msg, const T &cmd_mavlink,
 		const vehicle_command_s &vehicle_command)
@@ -636,16 +631,15 @@ MavlinkReceiver::handle_message_command_ack(mavlink_message_t *msg)
 
 	MavlinkCommandSender::instance().handle_mavlink_command_ack(ack, msg->sysid, msg->compid);
 
-	vehicle_command_ack_s command_ack = {
+	vehicle_command_ack_s command_ack = {};
-		.timestamp = hrt_absolute_time(),
+	command_ack.timestamp = hrt_absolute_time();
-		.result_param2 = ack.result_param2,
+	command_ack.result_param2 = ack.result_param2;
-		.command = ack.command,
+	command_ack.command = ack.command;
-		.result = ack.result,
+	command_ack.result = ack.result;
-		.from_external = true,
+	command_ack.from_external = true;
-		.result_param1 = ack.progress,
+	command_ack.result_param1 = ack.progress;
-		.target_system = ack.target_system,
+	command_ack.target_system = ack.target_system;
-		.target_component = ack.target_component
+	command_ack.target_component = ack.target_component;
-	};
 
 	if (_command_ack_pub == nullptr) {
 		_command_ack_pub = orb_advertise_queue(ORB_ID(vehicle_command_ack), &command_ack,
@@ -785,24 +779,21 @@ MavlinkReceiver::handle_message_set_mode(mavlink_message_t *msg)
 	union px4_custom_mode custom_mode;
 	custom_mode.data = new_mode.custom_mode;
 
-	struct vehicle_command_s vcmd = {
+	vehicle_command_s vcmd = {};
-		.timestamp = hrt_absolute_time(),
+	vcmd.timestamp = hrt_absolute_time();
-		.param5 = 0,
+
-		.param6 = 0,
 	/* copy the content of mavlink_command_long_t cmd_mavlink into command_t cmd */
-		.param1 = (float)new_mode.base_mode,
+	vcmd.param1 = (float)new_mode.base_mode;
-		.param2 = (float)custom_mode.main_mode,
+	vcmd.param2 = (float)custom_mode.main_mode;
-		.param3 = (float)custom_mode.sub_mode,
+	vcmd.param3 = (float)custom_mode.sub_mode;
-		.param4 = 0,
+
-		.param7 = 0,
+	vcmd.command = vehicle_command_s::VEHICLE_CMD_DO_SET_MODE;
-		.command = vehicle_command_s::VEHICLE_CMD_DO_SET_MODE,
+	vcmd.target_system = new_mode.target_system;
-		.target_system = new_mode.target_system,
+	vcmd.target_component = MAV_COMP_ID_ALL;
-		.target_component = MAV_COMP_ID_ALL,
+	vcmd.source_system = msg->sysid;
-		.source_system = msg->sysid,
+	vcmd.source_component = msg->compid;
-		.source_component = msg->compid,
+	vcmd.confirmation = true;
-		.confirmation = 1,
+	vcmd.from_external = true;
-		.from_external = true
-	};
 
 	if (_cmd_pub == nullptr) {
 		_cmd_pub = orb_advertise_queue(ORB_ID(vehicle_command), &vcmd, vehicle_command_s::ORB_QUEUE_LENGTH);

src/modules/uavcan/uavcan_servers.cpp

@@ -32,6 +32,7 @@
  ****************************************************************************/
 
 #include <px4_tasks.h>
+#include <drivers/drv_hrt.h>
 
 #include <nuttx/config.h>
 
@@ -563,16 +564,12 @@ pthread_addr_t UavcanServers::run(pthread_addr_t)
 			}
 
 			// Acknowledge the received command
-			struct vehicle_command_ack_s ack = {
+			vehicle_command_ack_s ack = {};
-				.timestamp = 0,
+			ack.timestamp = hrt_absolute_time();
-				.result_param2 = 0,
+			ack.command = cmd.command;
-				.command = cmd.command,
+			ack.result = cmd_ack_result;
-				.result = cmd_ack_result,
+			ack.target_system = cmd.source_system;
-				.from_external = false,
+			ack.target_component = cmd.source_component;
-				.result_param1 = 0,
-				.target_system = cmd.source_system,
-				.target_component = cmd.source_component
-			};
 
 			if (_command_ack_pub == nullptr) {
 				_command_ack_pub = orb_advertise_queue(ORB_ID(vehicle_command_ack), &ack, vehicle_command_ack_s::ORB_QUEUE_LENGTH);

src/modules/vtol_att_control/vtol_att_control_main.cpp

@@ -363,16 +363,12 @@ VtolAttitudeControl::handle_command()
 		// This might not be optimal but is better than no response at all.
 
 		if (_vehicle_cmd.from_external) {
-			vehicle_command_ack_s command_ack = {
+			vehicle_command_ack_s command_ack = {};
-				.timestamp = hrt_absolute_time(),
+			command_ack.timestamp = hrt_absolute_time();
-				.result_param2 = 0,
+			command_ack.command = _vehicle_cmd.command;
-				.command = _vehicle_cmd.command,
+			command_ack.result = (uint8_t)vehicle_command_ack_s::VEHICLE_RESULT_ACCEPTED;
-				.result = (uint8_t)vehicle_command_ack_s::VEHICLE_RESULT_ACCEPTED,
+			command_ack.target_system = _vehicle_cmd.source_system;
-				.from_external = false,
+			command_ack.target_component = _vehicle_cmd.source_component;
-				.result_param1 = 0,
-				.target_system = _vehicle_cmd.source_system,
-				.target_component = _vehicle_cmd.source_component
-			};
 
 			if (_v_cmd_ack_pub == nullptr) {
 				_v_cmd_ack_pub = orb_advertise_queue(ORB_ID(vehicle_command_ack), &command_ack,
@@ -380,7 +376,6 @@ VtolAttitudeControl::handle_command()
 
 			} else {
 				orb_publish(ORB_ID(vehicle_command_ack), _v_cmd_ack_pub, &command_ack);
-
 			}
 		}
 	}