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minor cleanup based on compiler warnings.

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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2122 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort 2011-05-07 00:21:16 +00:00
parent 3dea060983
commit b70c08d417
8 changed files with 38 additions and 45 deletions
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16
ArduCopterMega/ArduCopterMega.pde
View File

@ -391,7 +391,7 @@ struct Location prev_WP; // last waypoint
struct Location current_loc; // current location
struct Location next_WP; // next waypoint
struct Location target_WP; // where do we want to you towards?
struct Location tell_command; // command for telemetry
struct Location simple_WP; // command for telemetry
struct Location next_command; // command preloaded
long target_altitude; // used for
boolean home_is_set; // Flag for if we have g_gps lock and have set the home location
@ -965,16 +965,16 @@ void update_current_flight_mode(void)
if(flight_timer > 4){
flight_timer = 0;
tell_command.lat = 0;
tell_command.lng = 0;
simple_WP.lat = 0;
simple_WP.lng = 0;
next_WP.lng = (float)g.rc_1.control_in *.4; // X: 4500 / 2 = 2250 = 25 meteres
next_WP.lat = -((float)g.rc_2.control_in *.4); // Y: 4500 / 2 = 2250 = 25 meteres
// calc a new bearing
nav_bearing = get_bearing(&tell_command, &next_WP) + initial_simple_bearing;
nav_bearing = get_bearing(&simple_WP, &next_WP) + initial_simple_bearing;
nav_bearing = wrap_360(nav_bearing);
wp_distance = get_distance(&tell_command, &next_WP);
wp_distance = get_distance(&simple_WP, &next_WP);
calc_bearing_error();
/*
Serial.printf("lat: %ld lon:%ld, bear:%ld, dist:%ld, init:%ld, err:%ld ",
@ -1183,10 +1183,10 @@ void update_alt()
// XXX temp removed fr debugging
//filter out bad sonar reads
int temp = sonar.read();
int temp_sonar = sonar.read();
if(abs(temp - sonar_alt) < 300){
sonar_alt = temp;
if(abs(temp_sonar - sonar_alt) < 300){
sonar_alt = temp_sonar;
}
//sonar_alt = sonar.read();

2
ArduCopterMega/Log.pde
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@ -221,10 +221,8 @@ byte get_num_logs(void)
void start_new_log(byte num_existing_logs)
{
int page;
int start_pages[50] = {0,0,0};
int end_pages[50] = {0,0,0};
byte data;
if (num_existing_logs > 0) {
for(int i=0;i<num_existing_logs;i++) {

5
ArduCopterMega/Mavlink_Common.h
View File

@ -83,7 +83,7 @@ void mavlink_send_message(mavlink_channel_t chan, uint8_t id, uint32_t param, ui
case MSG_ATTITUDE:
{
Vector3f omega = dcm.get_gyro();
//Vector3f omega = dcm.get_gyro();
mavlink_msg_attitude_send(
chan,
timeStamp,
@ -276,4 +276,5 @@ void mavlink_acknowledge(mavlink_channel_t chan, uint8_t id, uint8_t sum1, uint8
#endif // mavlink in use
#endif // inclusion guard
#endif // inclusion guard

2
ArduCopterMega/commands_logic.pde
View File

@ -370,7 +370,7 @@ bool verify_land()
//return true;
}
//Serial.printf("N, %d\n", velocity_land);
Serial.printf("N_alt, %d\n", next_WP.alt);
Serial.printf("N_alt, %ld\n", next_WP.alt);
//update_crosstrack();
return false;

35
ArduCopterMega/read_commands.pde
View File

@ -5,32 +5,31 @@ char input_buffer[INPUT_BUF_LEN];
void readCommands(void)
{
static byte bufferPointer = 0;
static byte header[2];
const byte read_GS_header[] = {0x21, 0x21}; //!! Used to verify the payload msg header
if(Serial.available()){
//Serial.println("Serial.available");
byte bufferPointer;
header[0] = Serial.read();
header[1] = Serial.read();
header[1] = Serial.read();
if((header[0] == read_GS_header[0]) && (header[1] == read_GS_header[1])){
// Block until we read full command
// Block until we read full command
// --------------------------------
delay(20);
byte incoming_val = 0;
// Ground Station communication
// Ground Station communication
// ----------------------------
while(Serial.available() > 0)
while(Serial.available() > 0)
{
incoming_val = Serial.read();
incoming_val = Serial.read();
if (incoming_val != 13 && incoming_val != 10 ) {
input_buffer[bufferPointer++] = incoming_val;
if (incoming_val != 13 && incoming_val != 10 ) {
input_buffer[bufferPointer++] = incoming_val;
}
if(bufferPointer >= INPUT_BUF_LEN){
@ -43,7 +42,7 @@ void readCommands(void)
}
}
parseCommand(input_buffer);
// clear buffer of old data
// ------------------------
memset(input_buffer,0,sizeof(input_buffer));
@ -61,14 +60,14 @@ void parseCommand(char *buffer)
Serial.println("got cmd ");
Serial.println(buffer);
char *token, *saveptr1, *saveptr2;
for (int j = 1;; j++, buffer = NULL) {
token = strtok_r(buffer, "|", &saveptr1);
if (token == NULL) break;
if (token == NULL) break;
char * cmd = strtok_r(token, ":", &saveptr2);
long value = strtol(strtok_r (NULL,":", &saveptr2), NULL,0);
///*
Serial.print("cmd ");
Serial.print(cmd[0]);
@ -94,7 +93,7 @@ void parseCommand(char *buffer)
//g.pid_stabilize_roll.kD((float)value / 1000);
//g.pid_stabilize_pitch.kD((float)value / 1000);
break;
case 'X':
g.pid_stabilize_roll.imax(value * 100);
g.pid_stabilize_pitch.imax(value * 100);
@ -106,7 +105,7 @@ void parseCommand(char *buffer)
break;
}
init_pids();
//*/
//*/
}
}

16
ArduCopterMega/setup.pde
View File

@ -67,7 +67,6 @@ setup_mode(uint8_t argc, const Menu::arg *argv)
static int8_t
setup_show(uint8_t argc, const Menu::arg *argv)
{
uint8_t i;
// clear the area
print_blanks(8);
@ -92,9 +91,7 @@ setup_show(uint8_t argc, const Menu::arg *argv)
static int8_t
setup_factory(uint8_t argc, const Menu::arg *argv)
{
uint8_t i;
int c;
int c;
Serial.printf_P(PSTR("\n'Y' + Enter to factory reset, any other key to abort:\n"));
@ -200,7 +197,8 @@ setup_radio(uint8_t argc, const Menu::arg *argv)
static int8_t
setup_esc(uint8_t argc, const Menu::arg *argv)
{
Serial.printf_P(PSTR("\nUnplug battery, calibrate as usual.\n Press Enter to cancel.\n"));
Serial.printf_P(PSTR("\nUnplug, then plug-in battery; Calibrate ESCs.\n Press Enter to cancel.\n"));
g.esc_calibrate.set_and_save(1);
@ -209,7 +207,7 @@ setup_esc(uint8_t argc, const Menu::arg *argv)
if(Serial.available() > 0){
g.esc_calibrate.set_and_save(0);
break;
return(0);
}
}
}
@ -409,7 +407,7 @@ setup_pid(uint8_t argc, const Menu::arg *argv)
static int8_t
setup_flightmodes(uint8_t argc, const Menu::arg *argv)
{
byte switchPosition, oldSwitchPosition, mode;
byte switchPosition, _oldSwitchPosition, mode;
Serial.printf_P(PSTR("\nMove RC toggle switch to each position to edit, move aileron stick to select modes."));
print_hit_enter();
@ -421,7 +419,7 @@ setup_flightmodes(uint8_t argc, const Menu::arg *argv)
// look for control switch change
if (oldSwitchPosition != switchPosition){
if (_oldSwitchPosition != switchPosition){
mode = g.flight_modes[switchPosition];
mode = constrain(mode, 0, NUM_MODES-1);
@ -430,7 +428,7 @@ setup_flightmodes(uint8_t argc, const Menu::arg *argv)
print_switch(switchPosition, mode);
// Remember switch position
oldSwitchPosition = switchPosition;
_oldSwitchPosition = switchPosition;
}
// look for stick input

3
ArduCopterMega/system.pde
View File

@ -119,7 +119,7 @@ void init_ardupilot()
}
}else{
unsigned long before = micros();
// unsigned long before = micros();
// Load all auto-loaded EEPROM variables
AP_Var::load_all();
@ -263,7 +263,6 @@ void startup_ground(void)
// -------------------
init_commands();
byte counter = 4;
GPS_enabled = false;
// Read in the GPS

4
ArduCopterMega/test.pde
View File

@ -842,8 +842,6 @@ test_sonar(uint8_t argc, const Menu::arg *argv)
static int8_t
test_mission(uint8_t argc, const Menu::arg *argv)
{
//print_hit_enter();
//delay(1000);
//write out a basic mission to the EEPROM
Location t;
/*{
@ -911,7 +909,7 @@ void fake_out_gps()
g_gps->new_data = true;
g_gps->fix = true;
int length = g.rc_6.control_in;
//int length = g.rc_6.control_in;
rads += .05;
if (rads > 6.28){