forked from Archive/PX4-Autopilot
Navigator: Get rid of warnings first
This commit is contained in:
Julian Oes
parent
3508a42f6a
commit
4b519e4d5d
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@ -154,17 +154,16 @@ private:
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int _capabilities_sub; /**< notification of vehicle capabilities updates */
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int _control_mode_sub; /**< vehicle control mode subscription */
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orb_advert_t _pos_sp_triplet_pub; /**< publish position setpoint triplet */
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orb_advert_t _pos_sp_triplet_pub; /**< publish position setpoint triplet */
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orb_advert_t _mission_result_pub; /**< publish mission result topic */
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struct vehicle_status_s _vstatus; /**< vehicle status */
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struct vehicle_control_mode_s _control_mode; /**< vehicle control mode */
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struct vehicle_control_mode_s _control_mode; /**< vehicle control mode */
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struct vehicle_global_position_s _global_pos; /**< global vehicle position */
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struct home_position_s _home_pos; /**< home position for RTL */
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struct position_setpoint_triplet_s _pos_sp_triplet; /**< triplet of position setpoints */
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struct position_setpoint_triplet_s _pos_sp_triplet; /**< triplet of position setpoints */
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struct mission_result_s _mission_result; /**< mission result for commander/mavlink */
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struct mission_item_s _mission_item; /**< current mission item */
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bool _mission_item_valid; /**< current mission item valid */
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struct mission_item_s _mission_item; /**< current mission item */
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perf_counter_t _loop_perf; /**< loop performance counter */
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@ -178,21 +177,22 @@ private:
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class Mission _mission;
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bool _global_pos_valid; /**< track changes of global_position.global_valid flag */
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bool _reset_loiter_pos; /**< if true then loiter position should be set to current position */
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bool _mission_item_valid; /**< current mission item valid */
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bool _global_pos_valid; /**< track changes of global_position.global_valid flag */
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bool _reset_loiter_pos; /**< if true then loiter position should be set to current position */
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bool _waypoint_position_reached;
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bool _waypoint_yaw_reached;
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uint64_t _time_first_inside_orbit;
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bool _need_takeoff; /**< if need to perform vertical takeoff before going to waypoint (only for MISSION mode and VTOL vehicles) */
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bool _do_takeoff; /**< vertical takeoff state, current mission item is generated by navigator (only for MISSION mode and VTOL vehicles) */
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bool _need_takeoff; /**< if need to perform vertical takeoff before going to waypoint (only for MISSION mode and VTOL vehicles) */
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bool _do_takeoff; /**< vertical takeoff state, current mission item is generated by navigator (only for MISSION mode and VTOL vehicles) */
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MissionFeasibilityChecker missionFeasiblityChecker;
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uint64_t _set_nav_state_timestamp; /**< timestamp of last handled navigation state request */
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uint64_t _set_nav_state_timestamp; /**< timestamp of last handled navigation state request */
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bool _pos_sp_triplet_updated;
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char *nav_states_str[NAV_STATE_MAX];
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const char *nav_states_str[NAV_STATE_MAX];
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struct {
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float min_altitude;
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@ -382,11 +382,11 @@ Navigator::Navigator() :
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_global_pos_sub(-1),
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_home_pos_sub(-1),
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_vstatus_sub(-1),
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_control_mode_sub(-1),
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_params_sub(-1),
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_offboard_mission_sub(-1),
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_onboard_mission_sub(-1),
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_capabilities_sub(-1),
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_control_mode_sub(-1),
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/* publications */
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_pos_sp_triplet_pub(-1),
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@ -395,22 +395,22 @@ Navigator::Navigator() :
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/* performance counters */
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_loop_perf(perf_alloc(PC_ELAPSED, "navigator")),
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/* states */
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_rtl_state(RTL_STATE_NONE),
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_geofence_violation_warning_sent(false),
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_fence_valid(false),
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_inside_fence(true),
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_mission(),
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_mission_item_valid(false),
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_global_pos_valid(false),
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_reset_loiter_pos(true),
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_waypoint_position_reached(false),
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_waypoint_yaw_reached(false),
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_time_first_inside_orbit(0),
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_set_nav_state_timestamp(0),
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_mission_item_valid(false),
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_need_takeoff(true),
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_do_takeoff(false),
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_set_nav_state_timestamp(0),
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_pos_sp_triplet_updated(false),
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_geofence_violation_warning_sent(false)
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/* states */
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_rtl_state(RTL_STATE_NONE)
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{
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_parameter_handles.min_altitude = param_find("NAV_MIN_ALT");
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_parameter_handles.acceptance_radius = param_find("NAV_ACCEPT_RAD");
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@ -1162,7 +1162,7 @@ Navigator::set_mission_item()
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}
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if (_do_takeoff) {
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mavlink_log_info(_mavlink_fd, "[navigator] takeoff to %.1fm above home", _pos_sp_triplet.current.alt - _home_pos.alt);
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mavlink_log_info(_mavlink_fd, "[navigator] takeoff to %.1fm above home", (double)(_pos_sp_triplet.current.alt - _home_pos.alt));
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} else {
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if (onboard) {
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@ -1318,7 +1318,7 @@ Navigator::set_rtl_item()
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_pos_sp_triplet.next.valid = false;
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mavlink_log_info(_mavlink_fd, "[navigator] RTL: climb to %.1fm above home", climb_alt - _home_pos.alt);
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mavlink_log_info(_mavlink_fd, "[navigator] RTL: climb to %.1fm above home", (double)(climb_alt - _home_pos.alt));
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break;
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}
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@ -1344,7 +1344,7 @@ Navigator::set_rtl_item()
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_pos_sp_triplet.next.valid = false;
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mavlink_log_info(_mavlink_fd, "[navigator] RTL: return at %.1fm above home", _mission_item.altitude - _home_pos.alt);
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mavlink_log_info(_mavlink_fd, "[navigator] RTL: return at %.1fm above home", (double)(_mission_item.altitude - _home_pos.alt));
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break;
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}
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@ -1362,7 +1362,7 @@ Navigator::set_rtl_item()
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_mission_item.loiter_direction = 1;
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_mission_item.nav_cmd = NAV_CMD_WAYPOINT;
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_mission_item.acceptance_radius = _parameters.acceptance_radius;
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_mission_item.time_inside = _parameters.rtl_land_delay < 0.0 ? 0.0f : _parameters.rtl_land_delay;
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_mission_item.time_inside = _parameters.rtl_land_delay < 0.0f ? 0.0f : _parameters.rtl_land_delay;
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_mission_item.pitch_min = 0.0f;
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_mission_item.autocontinue = _parameters.rtl_land_delay > -0.001f;
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_mission_item.origin = ORIGIN_ONBOARD;
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@ -1371,7 +1371,7 @@ Navigator::set_rtl_item()
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_pos_sp_triplet.next.valid = false;
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mavlink_log_info(_mavlink_fd, "[navigator] RTL: descend to %.1fm above home", _mission_item.altitude - _home_pos.alt);
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mavlink_log_info(_mavlink_fd, "[navigator] RTL: descend to %.1fm above home", (double)(_mission_item.altitude - _home_pos.alt));
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break;
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}
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@ -1525,7 +1525,7 @@ Navigator::check_mission_item_reached()
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_time_first_inside_orbit = now;
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if (_mission_item.time_inside > 0.01f) {
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mavlink_log_info(_mavlink_fd, "[navigator] waypoint reached, wait for %.1fs", _mission_item.time_inside);
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mavlink_log_info(_mavlink_fd, "[navigator] waypoint reached, wait for %.1fs", (double)_mission_item.time_inside);
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}
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}
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