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navigator: fix uninitalized param values

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By declaring the params above the navigator modes inheriting from
mission block we make sure the params in navigator are set before
read in the constructor of mission block.
This commit is contained in:
Julian Oes
2019-04-24 11:01:30 +02:00
committed by Daniel Agar
parent 90ee26dd2d
commit c95394f57f
1 changed files with 21 additions and 21 deletions
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src/modules/navigator/navigator.h
+21 -21
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@@ -291,6 +291,27 @@ public:
bool force_vtol();
private:
DEFINE_PARAMETERS(
(ParamFloat<px4::params::NAV_LOITER_RAD>) _param_nav_loiter_rad, /**< loiter radius for fixedwing */
(ParamFloat<px4::params::NAV_ACC_RAD>) _param_nav_acc_rad, /**< acceptance for takeoff */
(ParamFloat<px4::params::NAV_FW_ALT_RAD>)
_param_nav_fw_alt_rad, /**< acceptance radius for fixedwing altitude */
(ParamFloat<px4::params::NAV_FW_ALTL_RAD>)
_param_nav_fw_altl_rad, /**< acceptance radius for fixedwing altitude before landing*/
(ParamFloat<px4::params::NAV_MC_ALT_RAD>)
_param_nav_mc_alt_rad, /**< acceptance radius for multicopter altitude */
(ParamInt<px4::params::NAV_FORCE_VT>) _param_nav_force_vt, /**< acceptance radius for multicopter altitude */
(ParamInt<px4::params::NAV_TRAFF_AVOID>) _param_nav_traff_avoid, /**< avoiding other aircraft is enabled */
// non-navigator parameters
// Mission (MIS_*)
(ParamFloat<px4::params::MIS_LTRMIN_ALT>) _param_mis_ltrmin_alt,
(ParamFloat<px4::params::MIS_TAKEOFF_ALT>) _param_mis_takeoff_alt,
(ParamBool<px4::params::MIS_TAKEOFF_REQ>) _param_mis_takeoff_req,
(ParamFloat<px4::params::MIS_YAW_TMT>) _param_mis_yaw_tmt,
(ParamFloat<px4::params::MIS_YAW_ERR>) _param_mis_yaw_err
)
int _global_pos_sub{-1}; /**< global position subscription */
int _gps_pos_sub{-1}; /**< gps position subscription */
int _home_pos_sub{-1}; /**< home position subscription */
@@ -356,27 +377,6 @@ private:
NavigatorMode *_navigation_mode_array[NAVIGATOR_MODE_ARRAY_SIZE]; /**< array of navigation modes */
DEFINE_PARAMETERS(
(ParamFloat<px4::params::NAV_LOITER_RAD>) _param_nav_loiter_rad, /**< loiter radius for fixedwing */
(ParamFloat<px4::params::NAV_ACC_RAD>) _param_nav_acc_rad, /**< acceptance for takeoff */
(ParamFloat<px4::params::NAV_FW_ALT_RAD>)
_param_nav_fw_alt_rad, /**< acceptance radius for fixedwing altitude */
(ParamFloat<px4::params::NAV_FW_ALTL_RAD>)
_param_nav_fw_altl_rad, /**< acceptance radius for fixedwing altitude before landing*/
(ParamFloat<px4::params::NAV_MC_ALT_RAD>)
_param_nav_mc_alt_rad, /**< acceptance radius for multicopter altitude */
(ParamInt<px4::params::NAV_FORCE_VT>) _param_nav_force_vt, /**< acceptance radius for multicopter altitude */
(ParamInt<px4::params::NAV_TRAFF_AVOID>) _param_nav_traff_avoid, /**< avoiding other aircraft is enabled */
// non-navigator parameters
// Mission (MIS_*)
(ParamFloat<px4::params::MIS_LTRMIN_ALT>) _param_mis_ltrmin_alt,
(ParamFloat<px4::params::MIS_TAKEOFF_ALT>) _param_mis_takeoff_alt,
(ParamBool<px4::params::MIS_TAKEOFF_REQ>) _param_mis_takeoff_req,
(ParamFloat<px4::params::MIS_YAW_TMT>) _param_mis_yaw_tmt,
(ParamFloat<px4::params::MIS_YAW_ERR>) _param_mis_yaw_err
)
param_t _handle_back_trans_dec_mss{PARAM_INVALID};
param_t _handle_reverse_delay{PARAM_INVALID};
float _param_back_trans_dec_mss{0.f};