From 6ced622da41ca49c8f2f31ef0ab6f927af10266a Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Fri, 6 Jul 2012 19:22:19 +1000
Subject: [PATCH] APM: fixed some build warnings and type errors
---
ArduPlane/ArduPlane.pde | 96 ++++++++++++++++++------------------
ArduPlane/GCS_Mavlink.pde | 9 ++--
ArduPlane/commands.pde | 2 +-
ArduPlane/commands_logic.pde | 2 +-
ArduPlane/geofence.pde | 4 +-
ArduPlane/setup.pde | 2 +-
ArduPlane/system.pde | 3 +-
ArduPlane/test.pde | 2 +-
8 files changed, 59 insertions(+), 61 deletions(-)
diff --git a/ArduPlane/ArduPlane.pde b/ArduPlane/ArduPlane.pde
index 82961fd826..b0b63d818c 100644
--- a/ArduPlane/ArduPlane.pde
+++ b/ArduPlane/ArduPlane.pde
@@ -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();
diff --git a/ArduPlane/GCS_Mavlink.pde b/ArduPlane/GCS_Mavlink.pde
index 71539f050a..1cabf7191a 100644
--- a/ArduPlane/GCS_Mavlink.pde
+++ b/ArduPlane/GCS_Mavlink.pde
@@ -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) {
diff --git a/ArduPlane/commands.pde b/ArduPlane/commands.pde
index 6d50e81e77..2ef038a5b2 100644
--- a/ArduPlane/commands.pde
+++ b/ArduPlane/commands.pde
@@ -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?
diff --git a/ArduPlane/commands_logic.pde b/ArduPlane/commands_logic.pde
index 25305dda75..f1fa5e4cae 100644
--- a/ArduPlane/commands_logic.pde
+++ b/ArduPlane/commands_logic.pde
@@ -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;
}
diff --git a/ArduPlane/geofence.pde b/ArduPlane/geofence.pde
index 1de05e5aed..ab5329e847 100644
--- a/ArduPlane/geofence.pde
+++ b/ArduPlane/geofence.pde
@@ -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
diff --git a/ArduPlane/setup.pde b/ArduPlane/setup.pde
index 915925252b..18b88c2b9d 100644
--- a/ArduPlane/setup.pde
+++ b/ArduPlane/setup.pde
@@ -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"));
diff --git a/ArduPlane/system.pde b/ArduPlane/system.pde
index 181b0ddd1f..5518957398 100644
--- a/ArduPlane/system.pde
+++ b/ArduPlane/system.pde
@@ -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
+
diff --git a/ArduPlane/test.pde b/ArduPlane/test.pde
index 211bc8d37c..d02f0deef6 100644
--- a/ArduPlane/test.pde
+++ b/ArduPlane/test.pde
@@ -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) {