Initialization refactoring

boards/emlid/navio2/navio_sysfs_rc_in/navio_sysfs_rc_in.cpp

@@ -70,9 +70,7 @@ class RcInput
 		_rcinput_pub(nullptr),
 		_channels(8), //D8R-II plus
 		_data{}
-	{
-		memset(_ch_fd, 0, sizeof(_ch_fd));
-	}
+	{ }
 	~RcInput()
 	{
 		work_cancel(HPWORK, &_work);
@@ -101,7 +99,7 @@ class RcInput
 	orb_advert_t _rcinput_pub;
 
 	int _channels;
-	int _ch_fd[input_rc_s::RC_INPUT_MAX_CHANNELS];
+	int _ch_fd[input_rc_s::RC_INPUT_MAX_CHANNELS] {};
 	struct input_rc_s _data;
 
 	int navio_rc_init();

boards/parrot/bebop/flow/bebop_flow.cpp

@@ -77,8 +77,7 @@ void task_main(int argc, char *argv[])
 {
 	_is_running = true;
 	int ret = 0;
-	struct frame_data frame;
-	memset(&frame, 0, sizeof(frame));
+	struct frame_data frame {};
 	uint32_t timeout_cnt = 0;
 
 	// Main loop

boards/parrot/bebop/flow/video_device.cpp

@@ -146,8 +146,7 @@ int VideoDevice::close_device()
 
 int VideoDevice::init_device()
 {
-	struct v4l2_capability cap;
-	memset(&cap, 0, sizeof(cap));
+	struct v4l2_capability cap {};
 
 	int ret = ioctl(_fd, VIDIOC_QUERYCAP, &cap);
 
@@ -179,11 +178,8 @@ int VideoDevice::init_device()
 
 int VideoDevice::init_crop()
 {
-	struct v4l2_cropcap cropcap;
-	struct v4l2_crop crop;
-
-	memset(&cropcap, 0, sizeof(cropcap));
-	memset(&crop, 0, sizeof(crop));
+	struct v4l2_cropcap cropcap {};
+	struct v4l2_crop crop {};
 
 	cropcap.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
 	int ret = ioctl(_fd, VIDIOC_CROPCAP, &cropcap);
@@ -206,9 +202,7 @@ int VideoDevice::init_crop()
 int VideoDevice::init_format()
 {
 	usleep(10000);
-	struct v4l2_format fmt;
-
-	memset(&fmt, 0, sizeof(fmt));
+	struct v4l2_format fmt {};
 
 	fmt.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
 	fmt.fmt.pix.width = VIDEO_DEVICE_IMAGE_WIDTH;
@@ -253,9 +247,7 @@ int VideoDevice::init_format()
 
 int VideoDevice::init_buffers()
 {
-	struct v4l2_requestbuffers req;
-
-	memset(&req, 0, sizeof(req));
+	struct v4l2_requestbuffers req {};
 
 	req.count = _n_buffers;
 	req.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
@@ -276,8 +268,7 @@ int VideoDevice::init_buffers()
 	}
 
 	for (unsigned int i = 0; i < _n_buffers; ++i) {
-		struct v4l2_buffer buf;
-		memset(&buf, 0, sizeof(buf));
+		struct v4l2_buffer buf {};
 
 		buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
 		buf.memory = V4L2_MEMORY_MMAP;
@@ -306,9 +297,7 @@ int VideoDevice::init_buffers()
 int VideoDevice::start_capturing()
 {
 	for (unsigned int i = 0; i < _n_buffers; ++i) {
-		struct v4l2_buffer buf;
-
-		memset(&buf, 0, sizeof(buf));
+		struct v4l2_buffer buf {};
 
 		buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
 		buf.memory = V4L2_MEMORY_MMAP;
@@ -350,8 +339,7 @@ int VideoDevice::stop_capturing()
 
 int VideoDevice::get_frame(struct frame_data &frame)
 {
-	struct v4l2_buffer buf;
-	memset(&buf, 0, sizeof(buf));
+	struct v4l2_buffer buf {};
 
 	buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
 	buf.memory = V4L2_MEMORY_MMAP;
@@ -384,8 +372,7 @@ int VideoDevice::get_frame(struct frame_data &frame)
 
 int VideoDevice::put_frame(struct frame_data &frame)
 {
-	struct v4l2_buffer buf;
-	memset(&buf, 0, sizeof(buf));
+	struct v4l2_buffer buf {};
 
 	buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
 	buf.memory = V4L2_MEMORY_MMAP;

platforms/common/work_queue/wqueue_test/wqueue_test.h

@@ -46,15 +46,8 @@
 class WQueueTest
 {
 public:
-	WQueueTest() :
-		_lpwork_done(false),
-		_hpwork_done(false)
-	{
-		memset(&_lpwork, 0, sizeof(_lpwork));
-		memset(&_hpwork, 0, sizeof(_hpwork));
-	};
-
-	~WQueueTest() {}
+	WQueueTest() = default;
+	~WQueueTest() = default;
 
 	int main();
 
@@ -66,8 +59,8 @@ class WQueueTest
 	void do_lp_work(void);
 	void do_hp_work(void);
 
-	bool _lpwork_done;
-	bool _hpwork_done;
-	work_s _lpwork;
-	work_s _hpwork;
+	bool _lpwork_done {false};
+	bool _hpwork_done {false};
+	work_s _lpwork {};
+	work_s _hpwork {};
 };

src/modules/commander/accelerometer_calibration.cpp

@@ -643,8 +643,7 @@ calibrate_return read_accelerometer_avg(int sensor_correction_sub, int (&subs)[m
 	}
 
 	unsigned counts[max_accel_sens] = { 0 };
-	float accel_sum[max_accel_sens][3];
-	memset(accel_sum, 0, sizeof(accel_sum));
+	float accel_sum[max_accel_sens][3] {};
 
 	unsigned errcount = 0;
 	struct sensor_correction_s sensor_correction; /**< sensor thermal corrections */

src/modules/commander/commander_helper.cpp

@@ -120,23 +120,20 @@ bool is_ground_rover(const struct vehicle_status_s *current_status)
 	return current_status->system_type == VEHICLE_TYPE_GROUND_ROVER;
 }
 
-static hrt_abstime blink_msg_end = 0;	// end time for currently blinking LED message, 0 if no blink message
-static hrt_abstime tune_end = 0;		// end time of currently played tune, 0 for repeating tunes or silence
-static int tune_current = TONE_STOP_TUNE;		// currently playing tune, can be interrupted after tune_end
-static unsigned int tune_durations[TONE_NUMBER_OF_TUNES];
+static hrt_abstime blink_msg_end = 0; // end time for currently blinking LED message, 0 if no blink message
+static hrt_abstime tune_end = 0; // end time of currently played tune, 0 for repeating tunes or silence
+static int tune_current = TONE_STOP_TUNE; // currently playing tune, can be interrupted after tune_end
+static unsigned int tune_durations[TONE_NUMBER_OF_TUNES] {};
 
 static DevHandle h_leds;
 static DevHandle h_buzzer;
-static led_control_s led_control = {};
+static led_control_s led_control {};
 static orb_advert_t led_control_pub = nullptr;
-static tune_control_s tune_control = {};
+static tune_control_s tune_control {};
 static orb_advert_t tune_control_pub = nullptr;
 
 int buzzer_init()
 {
-	tune_end = 0;
-	tune_current = 0;
-	memset(tune_durations, 0, sizeof(tune_durations));
 	tune_durations[TONE_NOTIFY_POSITIVE_TUNE] = 800000;
 	tune_durations[TONE_NOTIFY_NEGATIVE_TUNE] = 900000;
 	tune_durations[TONE_NOTIFY_NEUTRAL_TUNE] = 500000;

src/modules/commander/gyro_calibration.cpp

@@ -62,7 +62,7 @@
 
 static const char *sensor_name = "gyro";
 
-static const unsigned max_gyros = 3;
+static constexpr unsigned max_gyros = 3;
 
 /// Data passed to calibration worker routine
 typedef struct  {
@@ -82,12 +82,9 @@ static calibrate_return gyro_calibration_worker(int cancel_sub, void *data)
 	sensor_gyro_s	gyro_report;
 	unsigned		poll_errcount = 0;
 
-	struct sensor_correction_s sensor_correction; /**< sensor thermal corrections */
+	struct sensor_correction_s sensor_correction {}; /**< sensor thermal corrections */
 
 	if (orb_copy(ORB_ID(sensor_correction), worker_data->sensor_correction_sub, &sensor_correction) != 0) {
-		/* use default values */
-		memset(&sensor_correction, 0, sizeof(sensor_correction));
-
 		for (unsigned i = 0; i < 3; i++) {
 			sensor_correction.gyro_scale_0[i] = 1.0f;
 			sensor_correction.gyro_scale_1[i] = 1.0f;

src/modules/ekf2/ekf2_params.c

@@ -495,7 +495,7 @@ PARAM_DEFINE_INT32(EKF2_DECL_TYPE, 7);
  * @value 0 Automatic
  * @value 1 Magnetic heading
  * @value 2 3-axis
- * @value 3 VTOL customn
+ * @value 3 VTOL custom
  * @value 4 MC custom
  * @value 5 None
  * @reboot_required true

src/modules/muorb/krait/px4muorb_KraitRpcWrapper.cpp

@@ -96,8 +96,7 @@ int calc_timer_diff_to_dsp_us(int32_t *time_diff_us)
 		return -1;
 	}
 
-	char buffer[21];
-	memset(buffer, 0, sizeof(buffer));
+	char buffer[21] {};
 	int bytes_read = read(fd, buffer, sizeof(buffer));
 
 	if (bytes_read < 0) {

src/modules/sensors/voted_sensors_update.cpp

@@ -55,18 +55,6 @@ using namespace matrix;
 VotedSensorsUpdate::VotedSensorsUpdate(const Parameters &parameters, bool hil_enabled)
 	: _parameters(parameters), _hil_enabled(hil_enabled)
 {
-	memset(&_last_sensor_data, 0, sizeof(_last_sensor_data));
-	memset(&_last_magnetometer, 0, sizeof(_last_magnetometer));
-	memset(&_last_airdata, 0, sizeof(_last_airdata));
-	memset(&_last_accel_timestamp, 0, sizeof(_last_accel_timestamp));
-	memset(&_accel_diff, 0, sizeof(_accel_diff));
-	memset(&_gyro_diff, 0, sizeof(_gyro_diff));
-	memset(&_mag_angle_diff, 0, sizeof(_mag_angle_diff));
-
-	// initialise the publication variables
-	memset(&_corrections, 0, sizeof(_corrections));
-	memset(&_info, 0, sizeof(_info));
-
 	for (unsigned i = 0; i < 3; i++) {
 		_corrections.gyro_scale_0[i] = 1.0f;
 		_corrections.accel_scale_0[i] = 1.0f;

src/modules/vmount/vmount.cpp

@@ -156,11 +156,9 @@ extern "C" __EXPORT int vmount_main(int argc, char *argv[]);
 static int vmount_thread_main(int argc, char *argv[])
 {
 	ParameterHandles param_handles;
-	Parameters params;
+	Parameters params {};
 	OutputConfig output_config;
 	ThreadData thread_data;
-	memset(&params, 0, sizeof(params));
-
 
 	InputTest *test_input = nullptr;
 

src/modules/vtol_att_control/vtol_type.cpp

@@ -246,8 +246,7 @@ bool VtolType::set_idle_mc()
 {
 
 	unsigned pwm_value = _params->idle_pwm_mc;
-	struct pwm_output_values pwm_values;
-	memset(&pwm_values, 0, sizeof(pwm_values));
+	struct pwm_output_values pwm_values {};
 
 	for (int i = 0; i < num_outputs_max; i++) {
 		if (is_channel_set(i, _params->vtol_motor_id)) {
@@ -265,9 +264,7 @@ bool VtolType::set_idle_mc()
 
 bool VtolType::set_idle_fw()
 {
-	struct pwm_output_values pwm_values;
-
-	memset(&pwm_values, 0, sizeof(pwm_values));
+	struct pwm_output_values pwm_values {};
 
 	for (int i = 0; i < num_outputs_max; i++) {
 		if (is_channel_set(i, _params->vtol_motor_id)) {

src/systemcmds/motor_ramp/motor_ramp.cpp

@@ -274,8 +274,7 @@ int set_min_pwm(int fd, unsigned long max_channels, int pwm_value)
 {
 	int ret;
 
-	struct pwm_output_values pwm_values;
-	memset(&pwm_values, 0, sizeof(pwm_values));
+	struct pwm_output_values pwm_values {};
 
 	pwm_values.channel_count = max_channels;
 

src/systemcmds/pwm/pwm.cpp

@@ -415,9 +415,7 @@ pwm_main(int argc, char *argv[])
 			return 1;
 		}
 
-		struct pwm_output_values pwm_values;
-
-		memset(&pwm_values, 0, sizeof(pwm_values));
+		struct pwm_output_values pwm_values {};
 
 		pwm_values.channel_count = servo_count;
 
@@ -471,9 +469,7 @@ pwm_main(int argc, char *argv[])
 			return 1;
 		}
 
-		struct pwm_output_values pwm_values;
-
-		memset(&pwm_values, 0, sizeof(pwm_values));
+		struct pwm_output_values pwm_values {};
 
 		pwm_values.channel_count = servo_count;
 
@@ -526,9 +522,7 @@ pwm_main(int argc, char *argv[])
 			PX4_WARN("reading disarmed value of zero, disabling disarmed PWM");
 		}
 
-		struct pwm_output_values pwm_values;
-
-		memset(&pwm_values, 0, sizeof(pwm_values));
+		struct pwm_output_values pwm_values {};
 
 		pwm_values.channel_count = servo_count;
 
@@ -582,9 +576,7 @@ pwm_main(int argc, char *argv[])
 			return 1;
 		}
 
-		struct pwm_output_values pwm_values;
-
-		memset(&pwm_values, 0, sizeof(pwm_values));
+		struct pwm_output_values pwm_values {};
 
 		pwm_values.channel_count = servo_count;