From f9d87bcc88980f0d1ae6c0462e6226bee77dfca8 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 30 Jun 2014 11:15:51 +1000 Subject: [PATCH] AP_GPS: fixed build errors and warnings in SBP driver shadowed variables and implied casts in structures --- libraries/AP_GPS/AP_GPS_SBP.cpp | 74 +++++++++++++++------------------ libraries/AP_GPS/AP_GPS_SBP.h | 6 +-- 2 files changed, 35 insertions(+), 45 deletions(-) diff --git a/libraries/AP_GPS/AP_GPS_SBP.cpp b/libraries/AP_GPS/AP_GPS_SBP.cpp index db1babc47b..77e8bf5087 100644 --- a/libraries/AP_GPS/AP_GPS_SBP.cpp +++ b/libraries/AP_GPS/AP_GPS_SBP.cpp @@ -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)); diff --git a/libraries/AP_GPS/AP_GPS_SBP.h b/libraries/AP_GPS/AP_GPS_SBP.h index 77cac85857..4370e5c5c3 100644 --- a/libraries/AP_GPS/AP_GPS_SBP.h +++ b/libraries/AP_GPS/AP_GPS_SBP.h @@ -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);