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AP_GPS: fixed build errors and warnings in SBP driver

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shadowed variables and implied casts in structures
This commit is contained in:
Andrew Tridgell 2014-06-30 11:15:51 +10:00
parent bcb3d1af14
commit f9d87bcc88
2 changed files with 35 additions and 45 deletions
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74
libraries/AP_GPS/AP_GPS_SBP.cpp
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@ -196,15 +196,9 @@ AP_GPS_SBP::read(void)
#if SBP_HW_LOGGING
logging_log_health(pos_msg_hz,
vel_msg_hz,
baseline_msg_hz,
full_update_hz,
crc_error_counter,
dgps_corrections_incoming,
rtk_corrections_incoming,
has_rtk_base_pos,
iar_num_hypotheses);
vel_msg_hz,
baseline_msg_hz,
full_update_hz);
#endif
}
@ -835,9 +829,7 @@ AP_GPS_SBP::logging_write_headers(void)
}
void
AP_GPS_SBP::logging_log_health(float pos_msg_hz, float vel_msg_hz, float baseline_msg_hz, float full_update_hz,
uint32_t crc_error_counter, bool dgps_corrections_incoming, bool rtk_corrections_incoming,
bool has_rtk_base_pos, int32_t iar_num_hypotheses)
AP_GPS_SBP::logging_log_health(float pos_msg_hz, float vel_msg_hz, float baseline_msg_hz, float full_update_hz)
{
if (gps._DataFlash == NULL || !gps._DataFlash->logging_started()) {
@ -920,7 +912,7 @@ AP_GPS_SBP::logging_log_baseline_ecef(struct sbp_baseline_ecef_t* b)
void
AP_GPS_SBP::logging_log_tracking_state(struct sbp_tracking_state_t* state, uint8_t num)
AP_GPS_SBP::logging_log_tracking_state(struct sbp_tracking_state_t* tstate, uint8_t num)
{
if (gps._DataFlash == NULL || !gps._DataFlash->logging_started()) {
return;
@ -931,20 +923,20 @@ AP_GPS_SBP::logging_log_tracking_state(struct sbp_tracking_state_t* state, uint8
struct log_SbpTracking1 pkt = {
LOG_PACKET_HEADER_INIT(LOG_MSG_SBPTRACKING1),
timestamp : hal.scheduler->millis(),
ch1_prn : state[0].prn,
ch1_cn0 : state[0].cn0,
ch2_prn : num < 1 ? 0 : state[1].prn,
ch2_cn0 : num < 1 ? 0 : state[1].cn0,
ch3_prn : num < 2 ? 0 : state[2].prn,
ch3_cn0 : num < 2 ? 0 : state[2].cn0,
ch4_prn : num < 3 ? 0 : state[3].prn,
ch4_cn0 : num < 3 ? 0 : state[3].cn0,
ch5_prn : num < 4 ? 0 : state[4].prn,
ch5_cn0 : num < 4 ? 0 : state[4].cn0,
ch6_prn : num < 5 ? 0 : state[5].prn,
ch6_cn0 : num < 5 ? 0 : state[5].cn0,
ch7_prn : num < 6 ? 0 : state[6].prn,
ch7_cn0 : num < 6 ? 0 : state[6].cn0,
ch1_prn : tstate[0].prn,
ch1_cn0 : tstate[0].cn0,
ch2_prn : (uint8_t)(num < 1 ? 0 : tstate[1].prn),
ch2_cn0 : num < 1 ? 0 : tstate[1].cn0,
ch3_prn : (uint8_t)(num < 2 ? 0 : tstate[2].prn),
ch3_cn0 : num < 2 ? 0 : tstate[2].cn0,
ch4_prn : (uint8_t)(num < 3 ? 0 : tstate[3].prn),
ch4_cn0 : num < 3 ? 0 : tstate[3].cn0,
ch5_prn : (uint8_t)(num < 4 ? 0 : tstate[4].prn),
ch5_cn0 : num < 4 ? 0 : tstate[4].cn0,
ch6_prn : (uint8_t)(num < 5 ? 0 : tstate[5].prn),
ch6_cn0 : num < 5 ? 0 : tstate[5].cn0,
ch7_prn : (uint8_t)(num < 6 ? 0 : tstate[6].prn),
ch7_cn0 : num < 6 ? 0 : tstate[6].cn0,
};
gps._DataFlash->WriteBlock(&pkt, sizeof(pkt));
@ -953,20 +945,20 @@ AP_GPS_SBP::logging_log_tracking_state(struct sbp_tracking_state_t* state, uint8
struct log_SbpTracking2 pkt2 = {
LOG_PACKET_HEADER_INIT(LOG_MSG_SBPTRACKING2),
timestamp : hal.scheduler->millis(),
ch8_prn : num < 7 ? 0 : state[7].prn,
ch8_cn0 : num < 7 ? 0 : state[7].cn0,
ch9_prn : num < 8 ? 0 : state[8].prn,
ch9_cn0 : num < 8 ? 0 : state[8].cn0,
ch10_prn : num < 9 ? 0 : state[9].prn,
ch10_cn0 : num < 9 ? 0 : state[9].cn0,
ch11_prn : num < 10 ? 0 : state[10].prn,
ch11_cn0 : num < 10 ? 0 : state[10].cn0,
ch12_prn : num < 11 ? 0 : state[11].prn,
ch12_cn0 : num < 11 ? 0 : state[11].cn0,
ch13_prn : num < 12 ? 0 : state[12].prn,
ch13_cn0 : num < 12 ? 0 : state[12].cn0,
ch14_prn : num < 13 ? 0 : state[13].prn,
ch14_cn0 : num < 13 ? 0 : state[13].cn0,
ch8_prn : (uint8_t)(num < 7 ? 0 : tstate[7].prn),
ch8_cn0 : num < 7 ? 0 : tstate[7].cn0,
ch9_prn : (uint8_t)(num < 8 ? 0 : tstate[8].prn),
ch9_cn0 : num < 8 ? 0 : tstate[8].cn0,
ch10_prn : (uint8_t)(num < 9 ? 0 : tstate[9].prn),
ch10_cn0 : num < 9 ? 0 : tstate[9].cn0,
ch11_prn : (uint8_t)(num < 10 ? 0 : tstate[10].prn),
ch11_cn0 : num < 10 ? 0 : tstate[10].cn0,
ch12_prn : (uint8_t)(num < 11 ? 0 : tstate[11].prn),
ch12_cn0 : num < 11 ? 0 : tstate[11].cn0,
ch13_prn : (uint8_t)(num < 12 ? 0 : tstate[12].prn),
ch13_cn0 : num < 12 ? 0 : tstate[12].cn0,
ch14_prn : (uint8_t)(num < 13 ? 0 : tstate[13].prn),
ch14_cn0 : num < 13 ? 0 : tstate[13].cn0,
};
gps._DataFlash->WriteBlock(&pkt2, sizeof(pkt));

6
libraries/AP_GPS/AP_GPS_SBP.h
View File

@ -249,8 +249,8 @@ private:
uint32_t last_baseline_received_ms;
uint32_t last_heatbeat_received_ms;
uint32_t last_tracking_state_ms;
uint8_t baseline_recv_rate; //in hertz * 10
int32_t iar_num_hypotheses;
uint8_t baseline_recv_rate; //in hertz * 10
//Sticky bits to track updating of state
bool dgps_corrections_incoming:1;
@ -284,9 +284,7 @@ private:
void logging_write_headers();
void logging_log_health(float pos_msg_hz, float vel_msg_hz, float baseline_msg_hz, float full_update_hz,
uint32_t crc_error_counter, bool dgps_corrections_incoming, bool rtk_corrections_incoming,
bool has_rtk_base_pos, int32_t iar_num_hypotheses);
void logging_log_health(float pos_msg_hz, float vel_msg_hz, float baseline_msg_hz, float full_update_hz);
void logging_log_llh(struct sbp_pos_llh_t* p);
void logging_log_baseline_ecef(struct sbp_baseline_ecef_t*);
void logging_log_tracking_state(struct sbp_tracking_state_t*, uint8_t num);