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Rover: cleanup build warnings

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This commit is contained in:
Andrew Tridgell 2013-04-20 07:29:57 +10:00
parent 5c553852ed
commit cabef0ef6c
3 changed files with 32 additions and 49 deletions
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6
APMrover2/GCS_Mavlink.pde
View File

@ -400,13 +400,13 @@ static void NOINLINE send_ahrs(mavlink_channel_t chan)
ahrs.get_error_yaw());
}
#if CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
// report simulator state
static void NOINLINE send_simstate(mavlink_channel_t chan)
{
#if CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
sitl.simstate_send(chan);
}
#endif
}
static void NOINLINE send_hwstatus(mavlink_channel_t chan)
{
@ -600,10 +600,8 @@ static bool mavlink_try_send_message(mavlink_channel_t chan, enum ap_message id,
break;
case MSG_SIMSTATE:
#if CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
CHECK_PAYLOAD_SIZE(SIMSTATE);
send_simstate(chan);
#endif
break;
case MSG_HWSTATUS:

67
APMrover2/Log.pde
View File

@ -62,29 +62,31 @@ print_log_menu(void)
static int8_t
dump_log(uint8_t argc, const Menu::arg *argv)
{
int16_t dump_log;
uint16_t dump_log_start;
uint16_t dump_log_end;
uint16_t last_log_num;
int16_t dump_log;
uint16_t dump_log_start;
uint16_t dump_log_end;
uint16_t last_log_num;
// check that the requested log number can be read
dump_log = argv[1].i;
last_log_num = DataFlash.find_last_log();
if (dump_log == -2) {
// check that the requested log number can be read
dump_log = argv[1].i;
last_log_num = DataFlash.find_last_log();
if (dump_log == -2) {
DataFlash.DumpPageInfo(cliSerial);
return(-1);
} else if (dump_log <= 0) {
cliSerial->printf_P(PSTR("dumping all\n"));
Log_Read(0, 1, 0);
return(-1);
} else if ((argc != 2) || (dump_log <= (last_log_num - DataFlash.get_num_logs())) || (dump_log > last_log_num)) {
cliSerial->printf_P(PSTR("bad log number\n"));
return(-1);
}
return(-1);
} else if (dump_log <= 0) {
cliSerial->printf_P(PSTR("dumping all\n"));
Log_Read(0, 1, 0);
return(-1);
} else if ((argc != 2)
|| ((uint16_t)dump_log > last_log_num))
{
cliSerial->printf_P(PSTR("bad log number\n"));
return(-1);
}
DataFlash.get_log_boundaries(dump_log, dump_log_start, dump_log_end);
Log_Read((uint16_t)dump_log, dump_log_start, dump_log_end);
DataFlash.get_log_boundaries(dump_log, dump_log_start, dump_log_end);
Log_Read((uint16_t)dump_log, dump_log_start, dump_log_end);
return 0;
}
@ -157,26 +159,6 @@ process_logs(uint8_t argc, const Menu::arg *argv)
return 0;
}
// print_latlon - prints an latitude or longitude value held in an int32_t
// probably this should be moved to AP_Common
void print_latlon(AP_HAL::BetterStream *s, int32_t lat_or_lon)
{
int32_t dec_portion, frac_portion;
int32_t abs_lat_or_lon = labs(lat_or_lon);
// extract decimal portion (special handling of negative numbers to ensure we round towards zero)
dec_portion = abs_lat_or_lon / T7;
// extract fractional portion
frac_portion = abs_lat_or_lon - dec_portion*T7;
// print output including the minus sign
if( lat_or_lon < 0 ) {
s->printf_P(PSTR("-"));
}
s->printf_P(PSTR("%ld.%07ld"),(long)dec_portion,(long)frac_portion);
}
struct PACKED log_Performance {
LOG_PACKET_HEADER;
uint32_t loop_time;
@ -324,7 +306,7 @@ struct PACKED log_Attitude {
// Write an attitude packet
void Log_Write_Attitude()
static void Log_Write_Attitude()
{
struct log_Attitude pkt = {
LOG_PACKET_HEADER_INIT(LOG_ATTITUDE_MSG),
@ -494,6 +476,9 @@ static void Log_Write_Performance() {}
static int8_t process_logs(uint8_t argc, const Menu::arg *argv) { return 0; }
static void Log_Write_Control_Tuning() {}
static void Log_Write_Sonar() {}
static void Log_Write_Mode() {}
static void Log_Write_Attitude() {}
static void Log_Write_Compass() {}
static void start_logging() {}
#endif // LOGGING_ENABLED

8
APMrover2/sensors.pde
View File

@ -60,8 +60,8 @@ static void read_sonars(void)
// we have two sonars
obstacle.sonar1_distance_cm = sonar.distance_cm();
obstacle.sonar2_distance_cm = sonar2.distance_cm();
if (obstacle.sonar1_distance_cm <= g.sonar_trigger_cm &&
obstacle.sonar2_distance_cm <= obstacle.sonar2_distance_cm) {
if (obstacle.sonar1_distance_cm <= (uint16_t)g.sonar_trigger_cm &&
obstacle.sonar2_distance_cm <= (uint16_t)obstacle.sonar2_distance_cm) {
// we have an object on the left
if (obstacle.detected_count < 127) {
obstacle.detected_count++;
@ -72,7 +72,7 @@ static void read_sonars(void)
}
obstacle.detected_time_ms = hal.scheduler->millis();
obstacle.turn_angle = g.sonar_turn_angle;
} else if (obstacle.sonar2_distance_cm <= g.sonar_trigger_cm) {
} else if (obstacle.sonar2_distance_cm <= (uint16_t)g.sonar_trigger_cm) {
// we have an object on the right
if (obstacle.detected_count < 127) {
obstacle.detected_count++;
@ -88,7 +88,7 @@ static void read_sonars(void)
// we have a single sonar
obstacle.sonar1_distance_cm = sonar.distance_cm();
obstacle.sonar2_distance_cm = 0;
if (obstacle.sonar1_distance_cm <= g.sonar_trigger_cm) {
if (obstacle.sonar1_distance_cm <= (uint16_t)g.sonar_trigger_cm) {
// obstacle detected in front
if (obstacle.detected_count < 127) {
obstacle.detected_count++;