From 495f0ea8c4ddb18c1a932886c88f8eb1483fbf5d Mon Sep 17 00:00:00 2001
From: Mingjie Shen <shen497@purdue.edu>
Date: Wed, 24 May 2023 14:28:33 -0400
Subject: [PATCH] Fix invoking virtual functions from constructors

Virtual functions should not be invoked from a constructor or destructor
of the same class. Confusingly, virtual functions are resolved
statically (not dynamically) in constructors and destructors for the
same class. The call should be made explicitly static by qualifying it
using the scope resolution operator.
---
 firmware/controllers/trigger/trigger_decoder.cpp | 2 +-
 firmware/util/math/efi_pid.cpp                   | 6 +++---
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/firmware/controllers/trigger/trigger_decoder.cpp b/firmware/controllers/trigger/trigger_decoder.cpp
index dc7c4a2c6b..e6e735d81f 100644
--- a/firmware/controllers/trigger/trigger_decoder.cpp
+++ b/firmware/controllers/trigger/trigger_decoder.cpp
@@ -54,7 +54,7 @@
 TriggerDecoderBase::TriggerDecoderBase(const char* name)
 	: name(name)
 {
-	resetState();
+	TriggerDecoderBase::resetState();
 }
 
 bool TriggerDecoderBase::getShaftSynchronized() {
diff --git a/firmware/util/math/efi_pid.cpp b/firmware/util/math/efi_pid.cpp
index 997f73659c..ae45806771 100644
--- a/firmware/util/math/efi_pid.cpp
+++ b/firmware/util/math/efi_pid.cpp
@@ -25,7 +25,7 @@ void Pid::initPidClass(pid_s *parameters) {
 	this->parameters = parameters;
 	resetCounter = 0;
 
-	reset();
+	Pid::reset();
 }
 
 bool Pid::isSame(const pid_s *parameters) const {
@@ -190,12 +190,12 @@ void Pid::updateITerm(float value) {
 
 PidCic::PidCic() {
 	// call our derived reset()
-	reset();
+	PidCic::reset();
 }
 
 PidCic::PidCic(pid_s *parameters) : Pid(parameters) {
 	// call our derived reset()
-	reset();
+	PidCic::reset();
 }
 
 void PidCic::reset(void) {