forked from Archive/PX4-Autopilot
apps: Compile warning fixes
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c60561b705
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328fc04d29
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@ -266,7 +266,6 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds
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orb_advert_t pub_att = orb_advertise(ORB_ID(vehicle_attitude), &att);
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int loopcounter = 0;
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int printcounter = 0;
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thread_running = true;
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@ -274,9 +273,6 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds
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// struct debug_key_value_s dbg = { .key = "", .value = 0.0f };
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// orb_advert_t pub_dbg = -1;
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float sensor_update_hz[3] = {0.0f, 0.0f, 0.0f};
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// XXX write this out to perf regs
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/* keep track of sensor updates */
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uint64_t sensor_last_timestamp[3] = {0, 0, 0};
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@ -287,11 +283,9 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds
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/* initialize parameter handles */
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parameters_init(&ekf_param_handles);
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uint64_t start_time = hrt_absolute_time();
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bool initialized = false;
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float gyro_offsets[3] = { 0.0f, 0.0f, 0.0f };
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unsigned offset_count = 0;
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/* rotation matrix for magnetic declination */
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math::Matrix<3, 3> R_decl;
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@ -382,7 +376,7 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds
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/* Fill in gyro measurements */
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if (sensor_last_timestamp[0] != raw.timestamp) {
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update_vect[0] = 1;
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sensor_update_hz[0] = 1e6f / (raw.timestamp - sensor_last_timestamp[0]);
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// sensor_update_hz[0] = 1e6f / (raw.timestamp - sensor_last_timestamp[0]);
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sensor_last_timestamp[0] = raw.timestamp;
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}
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@ -393,7 +387,7 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds
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/* update accelerometer measurements */
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if (sensor_last_timestamp[1] != raw.accelerometer_timestamp) {
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update_vect[1] = 1;
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sensor_update_hz[1] = 1e6f / (raw.timestamp - sensor_last_timestamp[1]);
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// sensor_update_hz[1] = 1e6f / (raw.timestamp - sensor_last_timestamp[1]);
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sensor_last_timestamp[1] = raw.accelerometer_timestamp;
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}
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@ -445,7 +439,7 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds
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/* update magnetometer measurements */
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if (sensor_last_timestamp[2] != raw.magnetometer_timestamp) {
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update_vect[2] = 1;
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sensor_update_hz[2] = 1e6f / (raw.timestamp - sensor_last_timestamp[2]);
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// sensor_update_hz[2] = 1e6f / (raw.timestamp - sensor_last_timestamp[2]);
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sensor_last_timestamp[2] = raw.magnetometer_timestamp;
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}
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@ -498,8 +492,6 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds
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continue;
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}
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uint64_t timing_start = hrt_absolute_time();
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attitudeKalmanfilter(update_vect, dt, z_k, x_aposteriori_k, P_aposteriori_k, ekf_params.q, ekf_params.r,
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euler, Rot_matrix, x_aposteriori, P_aposteriori);
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@ -1067,7 +1067,7 @@ FixedwingEstimator::task_main()
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mavlink_log_info(_mavlink_fd, "[ekf] ref: LA %.4f,LO %.4f,ALT %.2f", lat, lon, (double)gps_alt);
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warnx("HOME/REF: LA %8.4f,LO %8.4f,ALT %8.2f V: %8.4f %8.4f %8.4f", lat, lon, (double)gps_alt,
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(double)_ekf->velNED[0], (double)_ekf->velNED[1], (double)_ekf->velNED[2]);
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warnx("BARO: %8.4f m / ref: %8.4f m / gps offs: %8.4f m", _ekf->baroHgt, _baro_ref, _baro_gps_offset);
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warnx("BARO: %8.4f m / ref: %8.4f m / gps offs: %8.4f m", (double)_ekf->baroHgt, (double)_baro_ref, (double)_baro_gps_offset);
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warnx("GPS: eph: %8.4f, epv: %8.4f, declination: %8.4f", (double)_gps.eph_m, (double)_gps.epv_m, (double)math::degrees(declination));
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_gps_initialized = true;
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@ -304,8 +304,8 @@ FixedwingAttitudeControl::FixedwingAttitudeControl() :
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/* publications */
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_rate_sp_pub(-1),
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_actuators_0_pub(-1),
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_attitude_sp_pub(-1),
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_actuators_0_pub(-1),
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_actuators_1_pub(-1),
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/* performance counters */
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@ -773,7 +773,7 @@ FixedwingAttitudeControl::task_main()
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_parameters.airspeed_min, _parameters.airspeed_max, airspeed, airspeed_scaling, lock_integrator);
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_actuators.control[0] = (isfinite(roll_u)) ? roll_u + _parameters.trim_roll : _parameters.trim_roll;
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if (!isfinite(roll_u)) {
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warnx("roll_u %.4f", roll_u);
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warnx("roll_u %.4f", (double)roll_u);
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}
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float pitch_u = _pitch_ctrl.control_bodyrate(_att.roll, _att.pitch,
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@ -418,8 +418,8 @@ FixedwingPositionControl::FixedwingPositionControl() :
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land_motor_lim(false),
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land_onslope(false),
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launch_detected(false),
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last_manual(false),
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usePreTakeoffThrust(false),
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last_manual(false),
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flare_curve_alt_rel_last(0.0f),
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launchDetector(),
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_airspeed_error(0.0f),
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