Fix encode_chan usage

Must memset structures before use.

src/AutoPilotPlugins/APM/APMSensorsComponentController.cc

@@ -602,15 +602,12 @@ void APMSensorsComponentController::cancelCalibration(void)
 void APMSensorsComponentController::nextClicked(void)
 {
     mavlink_message_t       msg;
-    mavlink_command_ack_t   ack;
-
-    ack.command = 0;
-    ack.result = 1;
-    mavlink_msg_command_ack_encode_chan(qgcApp()->toolbox()->mavlinkProtocol()->getSystemId(),
-                                        qgcApp()->toolbox()->mavlinkProtocol()->getComponentId(),
-                                        _vehicle->priorityLink()->mavlinkChannel(),
-                                        &msg,
-                                        &ack);
+    mavlink_msg_command_ack_pack_chan(qgcApp()->toolbox()->mavlinkProtocol()->getSystemId(),
+                                      qgcApp()->toolbox()->mavlinkProtocol()->getComponentId(),
+                                      _vehicle->priorityLink()->mavlinkChannel(),
+                                      &msg,
+                                      0,    // command
+                                      1);   // result
 
     _vehicle->sendMessageOnLink(_vehicle->priorityLink(), msg);
 

src/FactSystem/ParameterManager.cc

@@ -666,6 +666,8 @@ void ParameterManager::_writeParameterRaw(int componentId, const QString& paramN
     mavlink_param_set_t     p;
     mavlink_param_union_t   union_value;
 
+    memset(&p, 0, sizeof(p));
+
     FactMetaData::ValueType_t factType = getParameter(componentId, paramName)->type();
     p.param_type = _factTypeToMavType(factType);
 
@@ -786,6 +788,7 @@ void ParameterManager::_tryCacheHashLoad(int vehicleId, int componentId, QVarian
         // Return the hash value to notify we don't want any more updates
         mavlink_param_set_t     p;
         mavlink_param_union_t   union_value;
+        memset(&p, 0, sizeof(p));
         p.param_type = MAV_PARAM_TYPE_UINT32;
         strncpy(p.param_id, "_HASH_CHECK", sizeof(p.param_id));
         union_value.param_uint32 = crc32_value;

src/FirmwarePlugin/APM/APMFirmwarePlugin.cc

@@ -228,6 +228,8 @@ void APMFirmwarePlugin::_handleIncomingParamValue(Vehicle* vehicle, mavlink_mess
     mavlink_param_value_t paramValue;
     mavlink_param_union_t paramUnion;
 
+    memset(&paramValue, 0, sizeof(paramValue));
+
     // APM stack passes all parameter values in mavlink_param_union_t.param_float no matter what
     // type they are. Fix that up to correct usage.
 
@@ -278,6 +280,8 @@ void APMFirmwarePlugin::_handleOutgoingParamSet(Vehicle* vehicle, LinkInterface*
     mavlink_param_set_t     paramSet;
     mavlink_param_union_t   paramUnion;
 
+    memset(&paramSet, 0, sizeof(paramSet));
+
     // APM stack passes all parameter values in mavlink_param_union_t.param_float no matter what
     // type they are. Fix it back to the wrong way on the way out.
 

src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc

@@ -184,7 +184,7 @@ void ArduCopterFirmwarePlugin::guidedModeChangeAltitude(Vehicle* vehicle, double
     mavlink_message_t msg;
     mavlink_set_position_target_local_ned_t cmd;
 
-    memset(&cmd, 0, sizeof(mavlink_set_position_target_local_ned_t));
+    memset(&cmd, 0, sizeof(cmd));
 
     cmd.target_system = vehicle->id();
     cmd.target_component = vehicle->defaultComponentId();

src/FollowMe/FollowMe.cc

@@ -119,7 +119,7 @@ void FollowMe::_sendGCSMotionReport(void)
     MAVLinkProtocol* mavlinkProtocol = _toolbox->mavlinkProtocol();
     mavlink_follow_target_t follow_target;
 
-    memset(&follow_target, 0, sizeof(mavlink_follow_target_t));
+    memset(&follow_target, 0, sizeof(follow_target));
 
     follow_target.timestamp = runTime.nsecsElapsed()*1e-6;
     follow_target.est_capabilities = estimatation_capabilities;

src/MissionManager/MissionManager.cc

@@ -110,6 +110,7 @@ void MissionManager::_writeMissionCount(void)
     mavlink_message_t       message;
     mavlink_mission_count_t missionCount;
 
+    memset(&missionCount, 0, sizeof(missionCount));
     missionCount.target_system = _vehicle->id();
     missionCount.target_component = MAV_COMP_ID_MISSIONPLANNER;
     missionCount.count = _missionItems.count();
@@ -137,6 +138,7 @@ void MissionManager::writeArduPilotGuidedMissionItem(const QGeoCoordinate& gotoC
     mavlink_message_t       messageOut;
     mavlink_mission_item_t  missionItem;
 
+    memset(&missionItem, 8, sizeof(missionItem));
     missionItem.target_system =     _vehicle->id();
     missionItem.target_component =  _vehicle->defaultComponentId();
     missionItem.seq =               0;
@@ -191,6 +193,8 @@ void MissionManager::_requestList(void)
     mavlink_message_t               message;
     mavlink_mission_request_list_t  request;
 
+    memset(&request, 0, sizeof(request));
+
     _itemIndicesToRead.clear();
     _clearMissionItems();
 
@@ -306,6 +310,8 @@ void MissionManager::_readTransactionComplete(void)
     
     mavlink_message_t       message;
     mavlink_mission_ack_t   missionAck;
+
+    memset(&missionAck, 0, sizeof(missionAck));
     
     missionAck.target_system =      _vehicle->id();
     missionAck.target_component =   MAV_COMP_ID_MISSIONPLANNER;
@@ -360,6 +366,7 @@ void MissionManager::_requestNextMissionItem(void)
     if (_vehicle->supportsMissionItemInt()) {
         mavlink_mission_request_int_t missionRequest;
 
+        memset(&missionRequest, 0, sizeof(missionRequest));
         missionRequest.target_system =      _vehicle->id();
         missionRequest.target_component =   MAV_COMP_ID_MISSIONPLANNER;
         missionRequest.seq =                _itemIndicesToRead[0];
@@ -372,6 +379,7 @@ void MissionManager::_requestNextMissionItem(void)
     } else {
         mavlink_mission_request_t missionRequest;
 
+        memset(&missionRequest, 0, sizeof(missionRequest));
         missionRequest.target_system =      _vehicle->id();
         missionRequest.target_component =   MAV_COMP_ID_MISSIONPLANNER;
         missionRequest.seq =                _itemIndicesToRead[0];
@@ -523,7 +531,7 @@ void MissionManager::_handleMissionRequest(const mavlink_message_t& message, boo
     if (missionItemInt) {
         mavlink_mission_item_int_t missionItem;
 
-
+        memset(&missionItem, 0, sizeof(missionItem));
         missionItem.target_system =     _vehicle->id();
         missionItem.target_component =  MAV_COMP_ID_MISSIONPLANNER;
         missionItem.seq =               missionRequest.seq;
@@ -547,6 +555,7 @@ void MissionManager::_handleMissionRequest(const mavlink_message_t& message, boo
     } else {
         mavlink_mission_item_t missionItem;
 
+        memset(&missionItem, 0, sizeof(missionItem));
         missionItem.target_system =     _vehicle->id();
         missionItem.target_component =  MAV_COMP_ID_MISSIONPLANNER;
         missionItem.seq =               missionRequest.seq;

src/Vehicle/Vehicle.cc

@@ -1523,6 +1523,8 @@ void Vehicle::requestDataStream(MAV_DATA_STREAM stream, uint16_t rate, bool send
     mavlink_message_t               msg;
     mavlink_request_data_stream_t   dataStream;
 
+    memset(&dataStream, 0, sizeof(dataStream));
+
     dataStream.req_stream_id = stream;
     dataStream.req_message_rate = rate;
     dataStream.start_stop = 1;  // start
@@ -2079,6 +2081,7 @@ void Vehicle::_sendMavCommandAgain(void)
     mavlink_message_t       msg;
     mavlink_command_long_t  cmd;
 
+    memset(&cmd, 0, sizeof(cmd));
     cmd.command = queuedCommand.command;
     cmd.confirmation = 0;
     cmd.param1 = queuedCommand.rgParam[0];
@@ -2304,6 +2307,7 @@ void Vehicle::_ackMavlinkLogData(uint16_t sequence)
 {
     mavlink_message_t msg;
     mavlink_logging_ack_t ack;
+    memset(&ack, 0, sizeof(ack));
     ack.sequence = sequence;
     ack.target_component = _defaultComponentId;
     ack.target_system = id();

src/comm/MockLinkMissionItemHandler.cc

@@ -240,6 +240,7 @@ void MockLinkMissionItemHandler::_requestNextMissionItem(int sequenceNumber)
             mavlink_message_t           message;
             mavlink_mission_request_t   missionRequest;
             
+            memset(&missionRequest, 0, sizeof(missionRequest));
             missionRequest.target_system =      _mavlinkProtocol->getSystemId();
             missionRequest.target_component =   _mavlinkProtocol->getComponentId();
             missionRequest.seq =                sequenceNumber;
@@ -264,6 +265,7 @@ void MockLinkMissionItemHandler::_sendAck(MAV_MISSION_RESULT ackType)
     mavlink_message_t       message;
     mavlink_mission_ack_t   missionAck;
     
+    memset(&missionAck, 0, sizeof(missionAck));
     missionAck.target_system =      _mavlinkProtocol->getSystemId();
     missionAck.target_component =   _mavlinkProtocol->getComponentId();
     missionAck.type =               ackType;