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Navigator: Gotten rid of some warnings

This commit is contained in:
Julian Oes 2013-11-26 16:43:51 +01:00
parent 972ca7db8a
commit 9c1a5be8e1
1 changed files with 19 additions and 19 deletions
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38
src/modules/navigator/navigator_main.cpp
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@ -349,7 +349,7 @@ Navigator::mission_update()
* if the first part remained unchanged: continue with the (possibly changed second part)
*/
if (_current_mission_index < _mission_item_count && _current_mission_index < mission.count) { //check if not finished and if the new mission is not a shorter mission
for (int i = 0; i < (int)_current_mission_index; i++) {
for (unsigned i = 0; i < _current_mission_index; i++) {
if (!cmp_mission_item_equivalent(_mission_item[i], mission.items[i])) {
/* set flag to restart mission next we're in auto */
_current_mission_index = 0;
@ -781,7 +781,7 @@ Navigator::set_mode(navigation_mode_t new_nav_mode)
/* Use current altitude if above min altitude set by parameter */
if (_global_pos.alt < global_min_alt) {
global_position_mission_item.altitude = global_min_alt;
mavlink_log_info(_mavlink_fd, "[navigator] loiter %.1fm higher", global_min_alt - _global_pos.alt);
mavlink_log_info(_mavlink_fd, "[navigator] loiter %.1fm higher", (double)(global_min_alt - _global_pos.alt));
} else {
global_position_mission_item.altitude = _global_pos.alt;
mavlink_log_info(_mavlink_fd, "[navigator] loiter here");
@ -956,7 +956,7 @@ Navigator::check_mission_item_reached()
}
/* don't try to reach the landing mission, just stay in that mode */
if (_mission_item_triplet.current.nav_cmd == MAV_CMD_NAV_LAND) {
if (_mission_item_triplet.current.nav_cmd == NAV_CMD_LAND) {
return;
}
@ -967,9 +967,9 @@ Navigator::check_mission_item_reached()
orbit = _mission_item_triplet.current.radius;
} else if (_mission_item_triplet.current.nav_cmd == NAV_CMD_LOITER_TURN_COUNT ||
} else if ((_mission_item_triplet.current.nav_cmd == NAV_CMD_LOITER_TURN_COUNT ||
_mission_item_triplet.current.nav_cmd == NAV_CMD_LOITER_TIME_LIMIT ||
_mission_item_triplet.current.nav_cmd == NAV_CMD_LOITER_UNLIMITED &&
_mission_item_triplet.current.nav_cmd == NAV_CMD_LOITER_UNLIMITED) &&
_mission_item_triplet.current.loiter_radius > 0.01f) {
orbit = _mission_item_triplet.current.loiter_radius;
@ -1030,10 +1030,10 @@ Navigator::check_mission_item_reached()
/* XXX announcment? */
_time_first_inside_orbit = now;
}
/* check if the MAV was long enough inside the waypoint orbit */
if ((now - _time_first_inside_orbit >= (uint64_t)_mission_item_triplet.current.time_inside * 1e6)
|| _mission_item_triplet.current.nav_cmd == (int)MAV_CMD_NAV_TAKEOFF) {
|| _mission_item_triplet.current.nav_cmd == NAV_CMD_TAKEOFF) {
_mission_item_reached = true;
}
@ -1182,18 +1182,18 @@ int navigator_main(int argc, char *argv[])
}
bool Navigator::cmp_mission_item_equivalent(const struct mission_item_s a, const struct mission_item_s b) {
if (a.altitude_is_relative == b.altitude_is_relative &&
a.lat == b.lat &&
a.lon == b.lon &&
a.altitude == b.altitude &&
a.yaw == b.yaw &&
a.loiter_radius == b.loiter_radius &&
a.loiter_direction == b.loiter_direction &&
a.nav_cmd == b.nav_cmd &&
a.radius == b.radius &&
a.time_inside == b.time_inside &&
a.autocontinue == b.autocontinue &&
a.index == b.index) {
if (fabsf(a.altitude_is_relative - b.altitude_is_relative) < FLT_EPSILON &&
fabsf(a.lat - b.lat) < FLT_EPSILON &&
fabsf(a.lon - b.lon) < FLT_EPSILON &&
fabsf(a.altitude - b.altitude) < FLT_EPSILON &&
fabsf(a.yaw - b.yaw) < FLT_EPSILON &&
fabsf(a.loiter_radius - b.loiter_radius) < FLT_EPSILON &&
fabsf(a.loiter_direction - b.loiter_direction) < FLT_EPSILON &&
fabsf(a.nav_cmd - b.nav_cmd) < FLT_EPSILON &&
fabsf(a.radius - b.radius) < FLT_EPSILON &&
fabsf(a.time_inside - b.time_inside) < FLT_EPSILON &&
fabsf(a.autocontinue - b.autocontinue) < FLT_EPSILON &&
fabsf(a.index - b.index) < FLT_EPSILON) {
return true;
} else {
warnx("a.index %d, b.index %d", a.index, b.index);