ArduCopter: changed all "int" to "int16_t" and a few "long"s to "int32_t".

Also moved "simple_counter" variable from global scope to the "update_simple_mode" function which is the only place that it's actually used.

ArduCopter/ArduCopter.pde

@@ -906,8 +906,6 @@ static byte 			medium_loopCounter;
 static byte 			slow_loopCounter;
 // Counters for branching at 1 hz
 static byte				counter_one_herz;
-// Stat machine counter for Simple Mode
-static byte				simple_counter;
 // used to track the elapsed time between GPS reads
 static uint32_t         nav_loopTimer;
 // Delta Time in milliseconds for navigation computations, updated with every good GPS read
@@ -1609,7 +1607,7 @@ void update_yaw_mode(void)
 
 void update_roll_pitch_mode(void)
 {
-	int control_roll, control_pitch;
+	int16_t control_roll, control_pitch;
 
 	if (do_flip){
 		if(abs(g.rc_1.control_in) < 4000){
@@ -1719,13 +1717,14 @@ void update_roll_pitch_mode(void)
 // new radio frame is used to make sure we only call this at 50hz
 void update_simple_mode(void)
 {
+	static byte simple_counter = 0;		// State machine counter for Simple Mode
 	static float simple_sin_y=0, simple_cos_x=0;
 
 	// used to manage state machine
 	// which improves speed of function
 	simple_counter++;
 
-	int delta = wrap_360(ahrs.yaw_sensor - initial_simple_bearing)/100;
+	int16_t delta = wrap_360(ahrs.yaw_sensor - initial_simple_bearing)/100;
 
 	if (simple_counter == 1){
 		// roll
@@ -1738,8 +1737,8 @@ void update_simple_mode(void)
 	}
 
 	// Rotate input by the initial bearing
-	int control_roll 	= g.rc_1.control_in * simple_cos_x + g.rc_2.control_in * simple_sin_y;
+	int16_t control_roll 	= g.rc_1.control_in * simple_cos_x + g.rc_2.control_in * simple_sin_y;
-	int control_pitch 	= -(g.rc_1.control_in * simple_sin_y - g.rc_2.control_in * simple_cos_x);
+	int16_t control_pitch 	= -(g.rc_1.control_in * simple_sin_y - g.rc_2.control_in * simple_cos_x);
 
 	g.rc_1.control_in = control_roll;
 	g.rc_2.control_in = control_pitch;
@@ -2089,7 +2088,7 @@ static void update_altitude()
 	#if HIL_MODE == HIL_MODE_ATTITUDE
 		static int32_t 	old_baro_alt 	= 0;
 		// we are in the SIM, fake out the baro and Sonar
-		int fake_relative_alt = g_gps->altitude - gps_base_alt;
+		int16_t fake_relative_alt = g_gps->altitude - gps_base_alt;
 		baro_alt			= fake_relative_alt;
 		sonar_alt			= fake_relative_alt;
 
@@ -2109,14 +2108,14 @@ static void update_altitude()
 		// calc the vertical accel rate
 		/*
 		// 2.6 way
-		int temp			= (baro_alt - old_baro_alt) * 10;
+		int16_t temp			= (baro_alt - old_baro_alt) * 10;
 		baro_rate 			= (temp + baro_rate) >> 1;
 		baro_rate			= constrain(baro_rate, -300, 300);
 		old_baro_alt		= baro_alt;
 		*/
 
 		// Using Tridge's new clamb rate calc
-		int temp			= barometer.get_climb_rate() * 100;
+		int16_t temp			= barometer.get_climb_rate() * 100;
 		baro_rate 			= (temp + baro_rate) >> 1;
 		baro_rate			= constrain(baro_rate, -300, 300);
 		#endif
@@ -2382,7 +2381,7 @@ static void update_nav_wp()
 	}else if(wp_control == CIRCLE_MODE){
 
 		// check if we have missed the WP
-		int loiter_delta = (target_bearing - old_target_bearing)/100;
+		int16_t loiter_delta = (target_bearing - old_target_bearing)/100;
 
 		// reset the old value
 		old_target_bearing = target_bearing;
@@ -2396,7 +2395,7 @@ static void update_nav_wp()
 
 		// create a virtual waypoint that circles the next_WP
 		// Count the degrees we have circulated the WP
-		//int circle_angle = wrap_360(target_bearing + 3000 + 18000) / 100;
+		//int16_t circle_angle = wrap_360(target_bearing + 3000 + 18000) / 100;
 
 		circle_angle += (circle_rate * dTnav);
 		//1° = 0.0174532925 radians
@@ -2423,9 +2422,9 @@ static void update_nav_wp()
 		//CIRCLE: angle:29, dist:0, lat:400, lon:242
 
 		// debug
-		//int angleTest = degrees(circle_angle);
+		//int16_t angleTest = degrees(circle_angle);
-		//int nroll = nav_roll;
+		//int16_t nroll = nav_roll;
-		//int npitch = nav_pitch;
+		//int16_t npitch = nav_pitch;
 		//Serial.printf("CIRCLE: angle:%d, dist:%d, X:%d, Y:%d, P:%d, R:%d  \n", angleTest, (int)wp_distance , (int)long_error, (int)lat_error, npitch, nroll);
 
 	}else if(wp_control == WP_MODE){

ArduCopter/Attitude.pde

@@ -514,7 +514,7 @@ static int16_t heli_get_angle_boost(int16_t throttle)
 {
     float angle_boost_factor = cos_pitch_x * cos_roll_x;
 	angle_boost_factor = 1.0 - constrain(angle_boost_factor, .5, 1.0);
-	int throttle_above_mid = max(throttle - motors.throttle_mid,0);
+	int16_t throttle_above_mid = max(throttle - motors.throttle_mid,0);
 	return throttle + throttle_above_mid*angle_boost_factor;
 
 }
@@ -525,9 +525,9 @@ static int16_t heli_get_angle_boost(int16_t throttle)
 #if ACCEL_ALT_HOLD == 2
 // z -14.4306 = going up
 // z -6.4306 = going down
-static int get_z_damping()
+static int16_t get_z_damping()
 {
-	int output;
+	int16_t output;
 
 	Z_integrator 	+= get_world_Z_accel() - Z_offset;
 	output 			= Z_integrator * 3;
@@ -546,7 +546,7 @@ float get_world_Z_accel()
 static void init_z_damper()
 {
 	Z_offset = 0;
-	for (int i = 0; i < NUM_G_SAMPLES; i++){
+	for (int16_t i = 0; i < NUM_G_SAMPLES; i++){
 		delay(5);
 		read_AHRS();
 		Z_offset += get_world_Z_accel();
@@ -593,7 +593,7 @@ float get_world_Z_accel()
 static void init_z_damper()
 {
 	estimatedAccelOffset = 0;
-	for (int i = 0; i < NUM_G_SAMPLES; i++){
+	for (int16_t i = 0; i < NUM_G_SAMPLES; i++){
 		delay(5);
 		read_AHRS();
 		estimatedAccelOffset += get_world_Z_accel();
@@ -634,7 +634,7 @@ float dead_reckon_Z(float sensedPos, float sensedAccel)
 	return synVelo;
 }
 
-static int get_z_damping()
+static int16_t get_z_damping()
 {
 	float sensedAccel = get_world_Z_accel();
 	float sensedPos = current_loc.alt / 100.0;
@@ -645,7 +645,7 @@ static int get_z_damping()
 
 #else
 
-static int get_z_damping()
+static int16_t get_z_damping()
 {
 	return 0;
 }

ArduCopter/GCS.pde

@@ -36,12 +36,12 @@ union f_out{
 
 union i_out {
 	byte bytes[2];
-	int value;
+	int16_t value;
 } intOut;
 
 union l_out{
 	byte bytes[4];
-	long value;
+	int32_t value;
 } longOut;
 
 // Add binary values to the buffer
@@ -50,7 +50,7 @@ void write_byte(byte val)
 	mess_buffer[buff_pointer++] = val;
 }
 
-void write_int(int val )
+void write_int(int16_t val )
 {
 	intOut.value = val;
 	mess_buffer[buff_pointer++] = intOut.bytes[0];
@@ -66,7 +66,7 @@ void write_float(float val)
 	mess_buffer[buff_pointer++] = floatOut.bytes[3];
 }
 
-void write_long(long val)
+void write_long(int32_t val)
 {
 	longOut.value = val;
 	mess_buffer[buff_pointer++] = longOut.bytes[0];

ArduCopter/GCS_Mavlink.pde

@@ -468,7 +468,7 @@ static void NOINLINE send_statustext(mavlink_channel_t chan)
 // try to send a message, return false if it won't fit in the serial tx buffer
 static bool mavlink_try_send_message(mavlink_channel_t chan, enum ap_message id, uint16_t packet_drops)
 {
-    int payload_space = comm_get_txspace(chan) - MAVLINK_NUM_NON_PAYLOAD_BYTES;
+    int16_t payload_space = comm_get_txspace(chan) - MAVLINK_NUM_NON_PAYLOAD_BYTES;
 
     if (chan == MAVLINK_COMM_1 && millis() < MAVLINK_TELEMETRY_PORT_DELAY) {
         // defer any messages on the telemetry port for 1 second after
@@ -941,7 +941,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
 			if (mavlink_check_target(packet.target_system, packet.target_component))
 				break;
 
-			int freq = 0; // packet frequency
+			int16_t freq = 0; // packet frequency
 
 			if (packet.start_stop == 0)
 				freq = 0; // stop sending
@@ -1334,7 +1334,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
 			g.command_total.set_and_save(1);
 
 			// send acknowledgement 3 times to makes sure it is received
-			for (int i=0;i<3;i++)
+			for (int16_t i=0;i<3;i++)
 				mavlink_msg_mission_ack_send(chan, msg->sysid, msg->compid, type);
 
 			break;

ArduCopter/Log.pde

@@ -62,10 +62,10 @@ MENU2(log_menu, "Log", log_menu_commands, print_log_menu);
 static bool
 print_log_menu(void)
 {
-	int log_start;
+	int16_t log_start;
-	int log_end;
+	int16_t log_end;
-	int temp;
+	int16_t temp;
-	int last_log_num = DataFlash.find_last_log();
+	int16_t last_log_num = DataFlash.find_last_log();
 
 	uint16_t num_logs = DataFlash.get_num_logs();
 
@@ -95,8 +95,8 @@ print_log_menu(void)
 	}else{
 		Serial.printf_P(PSTR("\n%u logs\n"), (unsigned)num_logs);
 
-		for(int i=num_logs;i>=1;i--) {
+		for(int16_t i=num_logs;i>=1;i--) {
-            int last_log_start = log_start, last_log_end = log_end;
+            int16_t last_log_start = log_start, last_log_end = log_end;
 			temp = last_log_num-i+1;
 			DataFlash.get_log_boundaries(temp, log_start, log_end);
 			Serial.printf_P(PSTR("Log %d,    start %d,   end %d\n"), temp, log_start, log_end);
@@ -113,9 +113,9 @@ print_log_menu(void)
 static int8_t
 dump_log(uint8_t argc, const Menu::arg *argv)
 {
-	int dump_log;
+	int16_t dump_log;
-	int dump_log_start;
+	int16_t dump_log_start;
-	int dump_log_end;
+	int16_t dump_log_end;
 	byte last_log_num;
 
 	// check that the requested log number can be read
@@ -316,7 +316,7 @@ static void Log_Read_Raw()
 	/*
 	float logvar;
 	Serial.printf_P(PSTR("RAW,"));
-	for (int y = 0; y < 9; y++) {
+	for (int16_t y = 0; y < 9; y++) {
 		logvar = get_float(DataFlash.ReadLong());
 		Serial.print(logvar);
 		Serial.print(", ");
@@ -366,7 +366,7 @@ static void Log_Read_Raw()
 {
 	float logvar;
 	Serial.printf_P(PSTR("RAW,"));
-	for (int y = 0; y < 6; y++) {
+	for (int16_t y = 0; y < 6; y++) {
 		logvar = get_float(DataFlash.ReadLong());
 		Serial.print(logvar);
 		Serial.print(", ");
@@ -731,9 +731,9 @@ static void Log_Read_Cmd()
 	int8_t temp3 	= DataFlash.ReadByte();
 	int8_t temp4 	= DataFlash.ReadByte();
 	int8_t temp5 	= DataFlash.ReadByte();
-	long   temp6 	= DataFlash.ReadLong();
+	int32_t temp6 	= DataFlash.ReadLong();
-	long   temp7 	= DataFlash.ReadLong();
+	int32_t temp7 	= DataFlash.ReadLong();
-	long   temp8 	= DataFlash.ReadLong();
+	int32_t temp8 	= DataFlash.ReadLong();
 
 							//  1   2    3   4   5   6   7    8
 	Serial.printf_P(PSTR( "CMD, %d, %d, %d, %d, %d, %ld, %ld, %ld\n"),
@@ -900,9 +900,9 @@ static void Log_Read_PID()
 }
 
 // Read the DataFlash log memory
-static void Log_Read(int start_page, int end_page)
+static void Log_Read(int16_t start_page, int16_t end_page)
 {
-	int packet_count = 0;
+	int16_t packet_count = 0;
 
 	#ifdef AIRFRAME_NAME
 		Serial.printf_P(PSTR((AIRFRAME_NAME)
@@ -923,12 +923,12 @@ static void Log_Read(int start_page, int end_page)
 }
 
 // Read the DataFlash log memory : Packet Parser
-static int Log_Read_Process(int start_page, int end_page)
+static int16_t Log_Read_Process(int16_t start_page, int16_t end_page)
 {
 	byte data;
 	byte log_step 		= 0;
-	int page 			= start_page;
+	int16_t page 			= start_page;
-	int packet_count = 0;
+	int16_t packet_count = 0;
 
 	DataFlash.StartRead(start_page);
 
@@ -1031,7 +1031,7 @@ static int Log_Read_Process(int start_page, int end_page)
 
 static void Log_Write_Startup() {}
 static void Log_Read_Startup() {}
-static void Log_Read(int start_page, int end_page) {}
+static void Log_Read(int16_t start_page, int16_t end_page) {}
 static void Log_Write_Cmd(byte num, struct Location *wp) {}
 static void Log_Write_Mode(byte mode) {}
 static void Log_Write_Raw() {}

ArduCopter/Parameters.pde

@@ -385,7 +385,7 @@ static void load_parameters(void)
 		default_dead_zones();
 		Serial.println_P(PSTR("done."));
 	} else {
-		unsigned long before = micros();
+		uint32_t before = micros();
 		// Load all auto-loaded EEPROM variables
 		AP_Param::load_all();
 

ArduCopter/control_modes.pde

@@ -25,7 +25,7 @@ static void read_control_switch()
 }
 
 static byte readSwitch(void){
-	int pulsewidth = g.rc_5.radio_in;			// default for Arducopter
+	int16_t pulsewidth = g.rc_5.radio_in;			// default for Arducopter
 
 	if (pulsewidth > 1230 && pulsewidth <= 1360) 	return 1;
 	if (pulsewidth > 1360 && pulsewidth <= 1490) 	return 2;

ArduCopter/motors.pde

@@ -9,7 +9,7 @@
 // called at 10hz
 static void arm_motors()
 {
-	static int arming_counter;
+	static int16_t arming_counter;
 
 	// don't allow arming/disarming in anything but manual
 	if ((g.rc_3.control_in > 0) || (arming_counter > LEVEL_DELAY)){

ArduCopter/navigation.pde

@@ -88,7 +88,7 @@ static void calc_location_error(struct Location *next_loc)
 
 #define NAV_ERR_MAX 600
 #define NAV_RATE_ERR_MAX 250
-static void calc_loiter(int x_error, int y_error)
+static void calc_loiter(int16_t x_error, int16_t y_error)
 {
 	int32_t p,i,d;						// used to capture pid values for logging
 	int32_t output;

ArduCopter/planner.pde

@@ -28,7 +28,7 @@ planner_gcs(uint8_t argc, const Menu::arg *argv)
 {
 	gcs0.init(&Serial);
 
-	int loopcount = 0;
+	int16_t loopcount = 0;
 
 	while (1) {
 		if (millis()-fast_loopTimer > 19) {

ArduCopter/setup.pde

@@ -116,7 +116,7 @@ setup_show(uint8_t argc, const Menu::arg *argv)
 static int8_t
 setup_factory(uint8_t argc, const Menu::arg *argv)
 {
-	int c;
+	int16_t c;
 
 	Serial.printf_P(PSTR("\n'Y' = factory reset, any other key to abort:\n"));
 
@@ -525,10 +525,10 @@ setup_heli(uint8_t argc, const Menu::arg *argv)
 {
 
 	uint8_t active_servo = 0;
-	int value = 0;
+	int16_t value = 0;
-	int temp;
+	int16_t temp;
-	int state = 0;   // 0 = set rev+pos, 1 = capture min/max
+	int16_t state = 0;   // 0 = set rev+pos, 1 = capture min/max
-	int max_roll=0, max_pitch=0, min_collective=0, max_collective=0, min_tail=0, max_tail=0;
+	int16_t max_roll=0, max_pitch=0, min_collective=0, max_collective=0, min_tail=0, max_tail=0;
 
 	// initialise swash plate
 	motors.init_swash();
@@ -786,8 +786,8 @@ setup_mag_offset(uint8_t argc, const Menu::arg *argv)
 	print_hit_enter();
 	init_compass();
 
-	int _min[3] = {0,0,0};
+	int16_t _min[3] = {0,0,0};
-	int _max[3] = {0,0,0};
+	int16_t _max[3] = {0,0,0};
 
 	compass.read();
 
@@ -973,7 +973,7 @@ static void report_flight_modes()
 	Serial.printf_P(PSTR("Flight modes\n"));
 	print_divider();
 
-	for(int i = 0; i < 6; i++ ){
+	for(int16_t i = 0; i < 6; i++ ){
 		print_switch(i, flight_modes[i], (g.simple_modes & (1<<i)));
 	}
 	print_blanks(2);
@@ -1085,7 +1085,7 @@ static void zero_eeprom(void)
 
 	Serial.printf_P(PSTR("\nErasing EEPROM\n"));
 
-	for (int i = 0; i < EEPROM_MAX_ADDR; i++) {
+	for (int16_t i = 0; i < EEPROM_MAX_ADDR; i++) {
 		eeprom_write_byte((uint8_t *) i, b);
 	}
 
@@ -1113,7 +1113,7 @@ print_gyro_offsets(void)
 #if FRAME_CONFIG == HELI_FRAME
 
 static RC_Channel *
-heli_get_servo(int servo_num){
+heli_get_servo(int16_t servo_num){
 	if( servo_num == CH_1 )
 	    return motors._servo_1;
 	if( servo_num == CH_2 )
@@ -1126,7 +1126,7 @@ heli_get_servo(int servo_num){
 }
 
 // Used to read integer values from the serial port
-static int read_num_from_serial() {
+static int16_t read_num_from_serial() {
 	byte index = 0;
 	byte timeout = 0;
 	char data[5] = "";
@@ -1149,7 +1149,7 @@ static int read_num_from_serial() {
 #endif // CLI_ENABLED
 
 static void
-print_blanks(int num)
+print_blanks(int16_t num)
 {
 	while(num > 0){
 		num--;

ArduCopter/test.pde

@@ -256,7 +256,7 @@ test_radio(uint8_t argc, const Menu::arg *argv)
 	#if THROTTLE_FAILSAFE
 	byte fail_test;
 	print_hit_enter();
-	for(int i = 0; i < 50; i++){
+	for(int16_t i = 0; i < 50; i++){
 		delay(20);
 		read_radio();
 	}
@@ -409,7 +409,7 @@ test_radio(uint8_t argc, const Menu::arg *argv)
   delay(50);
 
 	while(1){
-		for(int i = 0; i < 9; i++){
+		for(int16_t i = 0; i < 9; i++){
 			Serial.printf_P(PSTR("%.1f,"),adc.Ch(i));
 		}
 		Serial.println();
@@ -511,13 +511,13 @@ test_ins(uint8_t argc, const Menu::arg *argv)
 
 			Serial.printf_P(PSTR("g"));
 
-			for (int i = 0; i < 3; i++) {
+			for (int16_t i = 0; i < 3; i++) {
 				Serial.printf_P(PSTR(" %7.4f"), gyro[i]);
 			}
 
 			Serial.printf_P(PSTR(" a"));
 
-			for (int i = 0; i < 3; i++) {
+			for (int16_t i = 0; i < 3; i++) {
 				Serial.printf_P(PSTR(" %7.4f"),accel[i]);
 			}
 
@@ -624,7 +624,7 @@ test_imu(uint8_t argc, const Menu::arg *argv)
 		//Serial.println();
 		if(Serial.available() > 0){
 			Serial.printf_P(PSTR("Y to save\n"));
-			int c;
+			int16_t c;
 			c = Serial.read();
 
 			do {
@@ -823,9 +823,9 @@ test_stab_d(uint8_t argc, const Menu::arg *argv)
 							temp.b.x, temp.b.y, temp.b.z,
 							temp.c.x, temp.c.y, temp.c.z);
 
-		int _pitch 		= degrees(-asin(temp.c.x));
+		int16_t _pitch 		= degrees(-asin(temp.c.x));
-		int _roll 		= degrees(atan2(temp.c.y, temp.c.z));
+		int16_t _roll 		= degrees(atan2(temp.c.y, temp.c.z));
-		int _yaw 		= degrees(atan2(temp.b.x, temp.a.x));
+		int16_t _yaw 		= degrees(atan2(temp.b.x, temp.a.x));
 		Serial.printf_P(PSTR(	"angles\n"
 								"%d \t %d \t %d\n\n"),
 								_pitch,