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APM: fixed some build warnings and type errors

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This commit is contained in:
Andrew Tridgell 2012-07-06 19:22:19 +10:00
parent 29338fbf7b
commit 58fd91165f
8 changed files with 59 additions and 61 deletions
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96
ArduPlane/ArduPlane.pde
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@ -336,7 +336,7 @@ static bool rc_override_active = false;
////////////////////////////////////////////////////////////////////////////////
// A tracking variable for type of failsafe active
// Used for failsafe based on loss of RC signal or GCS signal
static int failsafe;
static int16_t failsafe;
// Used to track if the value on channel 3 (throtttle) has fallen below the failsafe threshold
// RC receiver should be set up to output a low throttle value when signal is lost
static bool ch3_failsafe;
@ -368,7 +368,7 @@ static byte ground_start_count = 5;
// Used to compute a speed estimate from the first valid gps fixes to decide if we are
// on the ground or in the air. Used to decide if a ground start is appropriate if we
// booted with an air start.
static int ground_start_avg;
static int16_t ground_start_avg;
// Tracks if GPS is enabled based on statup routine
// If we do not detect GPS at startup, we stop trying and assume GPS is not connected
static bool GPS_enabled = false;
@ -381,18 +381,18 @@ const float radius_of_earth = 6378100; // meters
const float gravity = 9.81; // meters/ sec^2
// This is the currently calculated direction to fly.
// deg * 100 : 0 to 360
static long nav_bearing;
static int32_t nav_bearing;
// This is the direction to the next waypoint or loiter center
// deg * 100 : 0 to 360
static long target_bearing;
static int32_t target_bearing;
//This is the direction from the last waypoint to the next waypoint
// deg * 100 : 0 to 360
static long crosstrack_bearing;
static int32_t crosstrack_bearing;
// A gain scaler to account for ground speed/headwind/tailwind
static float nav_gain_scaler = 1;
// Direction held during phases of takeoff and landing
// deg * 100 dir of plane, A value of -1 indicates the course has not been set/is not in use
static long hold_course = -1; // deg * 100 dir of plane
static int32_t hold_course = -1; // deg * 100 dir of plane
// There may be two active commands in Auto mode.
// This indicates the active navigation command by index number
@ -407,37 +407,37 @@ static byte non_nav_command_ID = NO_COMMAND;
// Airspeed
////////////////////////////////////////////////////////////////////////////////
// The current airspeed estimate/measurement in centimeters per second
static int airspeed;
static int16_t airspeed;
// The calculated airspeed to use in FBW-B. Also used in higher modes for insuring min ground speed is met.
// Also used for flap deployment criteria. Centimeters per second.static long target_airspeed;
static long target_airspeed;
// Also used for flap deployment criteria. Centimeters per second.static int32_t target_airspeed;
static int32_t target_airspeed;
// The difference between current and desired airspeed. Used in the pitch controller. Centimeters per second.
static float airspeed_error;
// The calculated total energy error (kinetic (altitude) plus potential (airspeed)).
// Used by the throttle controller
static long energy_error;
static int32_t energy_error;
// kinetic portion of energy error (m^2/s^2)
static long airspeed_energy_error;
static int32_t airspeed_energy_error;
// An amount that the airspeed should be increased in auto modes based on the user positioning the
// throttle stick in the top half of the range. Centimeters per second.
static int airspeed_nudge;
static int16_t airspeed_nudge;
// Similar to airspeed_nudge, but used when no airspeed sensor.
// 0-(throttle_max - throttle_cruise) : throttle nudge in Auto mode using top 1/2 of throttle stick travel
static int throttle_nudge = 0;
static int16_t throttle_nudge = 0;
////////////////////////////////////////////////////////////////////////////////
// Ground speed
////////////////////////////////////////////////////////////////////////////////
// The amount current ground speed is below min ground speed. Centimeters per second
static long groundspeed_undershoot = 0;
static int32_t groundspeed_undershoot = 0;
////////////////////////////////////////////////////////////////////////////////
// Location Errors
////////////////////////////////////////////////////////////////////////////////
// Difference between current bearing and desired bearing. Hundredths of a degree
static long bearing_error;
static int32_t bearing_error;
// Difference between current altitude and desired altitude. Centimeters
static long altitude_error;
static int32_t altitude_error;
// Distance perpandicular to the course line that we are off trackline. Meters
static float crosstrack_error;
@ -468,7 +468,7 @@ static float airspeed_pressure;
// Altitude Sensor variables
////////////////////////////////////////////////////////////////////////////////
// Altitude from the sonar sensor. Meters. Not yet implemented.
static int sonar_alt;
static int16_t sonar_alt;
////////////////////////////////////////////////////////////////////////////////
// flight mode specific
@ -479,35 +479,35 @@ static bool takeoff_complete = true;
//Set land_complete if we are within 2 seconds distance or within 3 meters altitude of touchdown
static bool land_complete;
// Altitude threshold to complete a takeoff command in autonomous modes. Centimeters
static long takeoff_altitude;
static int32_t takeoff_altitude;
// Pitch to hold during landing command in the no airspeed sensor case. Hundredths of a degree
static int landing_pitch;
static int16_t landing_pitch;
// Minimum pitch to hold during takeoff command execution. Hundredths of a degree
static int takeoff_pitch;
static int16_t takeoff_pitch;
////////////////////////////////////////////////////////////////////////////////
// Loiter management
////////////////////////////////////////////////////////////////////////////////
// Previous target bearing. Used to calculate loiter rotations. Hundredths of a degree
static long old_target_bearing;
static int32_t old_target_bearing;
// Total desired rotation in a loiter. Used for Loiter Turns commands. Degrees
static int loiter_total;
static int16_t loiter_total;
// The amount in degrees we have turned since recording old_target_bearing
static int loiter_delta;
static int16_t loiter_delta;
// Total rotation in a loiter. Used for Loiter Turns commands and to check for missed waypoints. Degrees
static int loiter_sum;
static int16_t loiter_sum;
// The amount of time we have been in a Loiter. Used for the Loiter Time command. Milliseconds.
static long loiter_time;
static int32_t loiter_time;
// The amount of time we should stay in a loiter for the Loiter Time command. Milliseconds.
static int loiter_time_max;
static int16_t loiter_time_max;
////////////////////////////////////////////////////////////////////////////////
// Navigation control variables
////////////////////////////////////////////////////////////////////////////////
// The instantaneous desired bank angle. Hundredths of a degree
static long nav_roll;
static int32_t nav_roll;
// The instantaneous desired pitch angle. Hundredths of a degree
static long nav_pitch;
static int32_t nav_pitch;
////////////////////////////////////////////////////////////////////////////////
// Waypoint distances
@ -516,7 +516,7 @@ static long nav_pitch;
// is not static because AP_Camera uses it
long wp_distance;
// Distance between previous and next waypoint. Meters
static long wp_totalDistance;
static int32_t wp_totalDistance;
////////////////////////////////////////////////////////////////////////////////
// repeating event control
@ -524,27 +524,27 @@ static long wp_totalDistance;
// Flag indicating current event type
static byte event_id;
// when the event was started in ms
static long event_timer;
static int32_t event_timer;
// how long to delay the next firing of event in millis
static uint16_t event_delay;
// how many times to cycle : -1 (or -2) = forever, 2 = do one cycle, 4 = do two cycles
static int event_repeat = 0;
static int16_t event_repeat = 0;
// per command value, such as PWM for servos
static int event_value;
static int16_t event_value;
// the value used to cycle events (alternate value to event_value)
static int event_undo_value;
static int16_t event_undo_value;
////////////////////////////////////////////////////////////////////////////////
// Conditional command
////////////////////////////////////////////////////////////////////////////////
// A value used in condition commands (eg delay, change alt, etc.)
// For example in a change altitude command, it is the altitude to change to.
static long condition_value;
static int32_t condition_value;
// A starting value used to check the status of a conditional command.
// For example in a delay command the condition_start records that start time for the delay
static long condition_start;
static uint32_t condition_start;
// A value used in condition commands. For example the rate at which to change altitude.
static int condition_rate;
static int16_t condition_rate;
////////////////////////////////////////////////////////////////////////////////
// 3D Location vectors
@ -571,9 +571,9 @@ static struct Location next_nonnav_command;
// Altitude / Climb rate control
////////////////////////////////////////////////////////////////////////////////
// The current desired altitude. Altitude is linearly ramped between waypoints. Centimeters
static long target_altitude;
static int32_t target_altitude;
// Altitude difference between previous and current waypoint. Centimeters
static long offset_altitude;
static int32_t offset_altitude;
////////////////////////////////////////////////////////////////////////////////
// IMU variables
@ -586,30 +586,30 @@ static float G_Dt = 0.02;
// Performance monitoring
////////////////////////////////////////////////////////////////////////////////
// Timer used to accrue data and trigger recording of the performanc monitoring log message
static long perf_mon_timer;
static int32_t perf_mon_timer;
// The maximum main loop execution time recorded in the current performance monitoring interval
static int G_Dt_max = 0;
// The number of gps fixes recorded in the current performance monitoring interval
static int gps_fix_count = 0;
static int16_t gps_fix_count = 0;
// A variable used by developers to track performanc metrics.
// Currently used to record the number of GCS heartbeat messages received
static int pmTest1 = 0;
static int16_t pmTest1 = 0;
////////////////////////////////////////////////////////////////////////////////
// System Timers
////////////////////////////////////////////////////////////////////////////////
// Time in miliseconds of start of main control loop. Milliseconds
static unsigned long fast_loopTimer;
static uint32_t fast_loopTimer;
// Time Stamp when fast loop was complete. Milliseconds
static unsigned long fast_loopTimeStamp;
static uint32_t fast_loopTimeStamp;
// Number of milliseconds used in last main loop cycle
static uint8_t delta_ms_fast_loop;
// Counter of main loop executions. Used for performance monitoring and failsafe processing
static uint16_t mainLoop_count;
// Time in miliseconds of start of medium control loop. Milliseconds
static unsigned long medium_loopTimer;
static uint32_t medium_loopTimer;
// Counters for branching from main control loop to slower loops
static byte medium_loopCounter;
// Number of milliseconds used in last medium loop cycle
@ -623,9 +623,9 @@ static byte superslow_loopCounter;
static byte counter_one_herz;
// used to track the elapsed time for navigation PID integral terms
static unsigned long nav_loopTimer;
static uint32_t nav_loopTimer;
// Elapsed time since last call to navigation pid functions
static unsigned long dTnav;
static uint32_t dTnav;
// % MCU cycles used
static float load;
@ -734,7 +734,7 @@ static void fast_loop()
# if HIL_MODE == HIL_MODE_DISABLED
if (g.log_bitmask & MASK_LOG_ATTITUDE_FAST)
Log_Write_Attitude((int)ahrs.roll_sensor, (int)ahrs.pitch_sensor, (uint16_t)ahrs.yaw_sensor);
Log_Write_Attitude(ahrs.roll_sensor, ahrs.pitch_sensor, ahrs.yaw_sensor);
if (g.log_bitmask & MASK_LOG_RAW)
Log_Write_Raw();
@ -852,7 +852,7 @@ Serial.println(tempaccel.z, DEC);
#if HIL_MODE != HIL_MODE_ATTITUDE
if ((g.log_bitmask & MASK_LOG_ATTITUDE_MED) && !(g.log_bitmask & MASK_LOG_ATTITUDE_FAST))
Log_Write_Attitude((int)ahrs.roll_sensor, (int)ahrs.pitch_sensor, (uint16_t)ahrs.yaw_sensor);
Log_Write_Attitude(ahrs.roll_sensor, ahrs.pitch_sensor, ahrs.yaw_sensor);
if (g.log_bitmask & MASK_LOG_CTUN)
Log_Write_Control_Tuning();

9
ArduPlane/GCS_Mavlink.pde
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@ -422,15 +422,17 @@ static void NOINLINE send_simstate(mavlink_channel_t chan)
}
#endif
#ifndef DESKTOP_BUILD
static void NOINLINE send_hwstatus(mavlink_channel_t chan)
{
mavlink_msg_hwstatus_send(
chan,
board_voltage(),
#ifdef DESKTOP_BUILD
0);
#else
I2c.lockup_count());
}
#endif
}
static void NOINLINE send_gps_status(mavlink_channel_t chan)
{
@ -601,10 +603,8 @@ static bool mavlink_try_send_message(mavlink_channel_t chan, enum ap_message id,
break;
case MSG_HWSTATUS:
#ifndef DESKTOP_BUILD
CHECK_PAYLOAD_SIZE(HWSTATUS);
send_hwstatus(chan);
#endif
break;
case MSG_RETRY_DEFERRED:
@ -919,7 +919,6 @@ GCS_MAVLINK::send_text(gcs_severity severity, const prog_char_t *str)
void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
{
struct Location tell_command = {}; // command for telemetry
static uint8_t mav_nav=255; // For setting mode (some require receipt of 2 messages...)
switch (msg->msgid) {

2
ArduPlane/commands.pde
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@ -85,7 +85,7 @@ static struct Location get_cmd_with_index(int i)
static void set_cmd_with_index(struct Location temp, int i)
{
i = constrain(i, 0, g.command_total.get());
uint32_t mem = WP_START_BYTE + (i * WP_SIZE);
intptr_t mem = WP_START_BYTE + (i * WP_SIZE);
// Set altitude options bitmask
// XXX What is this trying to do?

2
ArduPlane/commands_logic.pde
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@ -452,7 +452,7 @@ static void do_within_distance()
static bool verify_wait_delay()
{
if ((unsigned)(millis() - condition_start) > condition_value){
if (millis() - condition_start > condition_value){
condition_value = 0;
return true;
}

4
ArduPlane/geofence.pde
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@ -33,7 +33,7 @@ static struct geofence_state {
*/
static Vector2l get_fence_point_with_index(unsigned i)
{
uint32_t mem;
intptr_t mem;
Vector2l ret;
if (i > (unsigned)g.fence_total) {
@ -52,7 +52,7 @@ static Vector2l get_fence_point_with_index(unsigned i)
// save a fence point
static void set_fence_point_with_index(Vector2l &point, unsigned i)
{
uint32_t mem;
intptr_t mem;
if (i >= (unsigned)g.fence_total.get()) {
// not allowed

2
ArduPlane/setup.pde
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@ -576,7 +576,7 @@ static void zero_eeprom(void)
{
byte b = 0;
Serial.printf_P(PSTR("\nErasing EEPROM\n"));
for (int i = 0; i < EEPROM_MAX_ADDR; i++) {
for (intptr_t i = 0; i < EEPROM_MAX_ADDR; i++) {
eeprom_write_byte((uint8_t *) i, b);
}
Serial.printf_P(PSTR("done\n"));

3
ArduPlane/system.pde
View File

@ -577,7 +577,6 @@ void flash_leds(bool on)
digitalWrite(C_LED_PIN, on?LED_ON:LED_OFF);
}
#ifndef DESKTOP_BUILD
/*
* Read Vcc vs 1.1v internal reference
*/
@ -586,4 +585,4 @@ uint16_t board_voltage(void)
static AP_AnalogSource_Arduino vcc(ANALOG_PIN_VCC);
return vcc.read_vcc();
}
#endif

2
ArduPlane/test.pde
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@ -89,7 +89,7 @@ static void print_hit_enter()
static int8_t
test_eedump(uint8_t argc, const Menu::arg *argv)
{
int i, j;
intptr_t i, j;
// hexdump the EEPROM
for (i = 0; i < EEPROM_MAX_ADDR; i += 16) {