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sensors:Use inttypes

This commit is contained in:
David Sidrane 2021-04-22 10:22:11 -07:00 committed by Julian Oes
parent 274c55a4ae
commit d73f842151
6 changed files with 30 additions and 24 deletions
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8
src/modules/sensors/vehicle_acceleration/VehicleAcceleration.cpp
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@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2019 PX4 Development Team. All rights reserved.
* Copyright (c) 2019, 2021 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@ -164,7 +164,7 @@ bool VehicleAcceleration::SensorSelectionUpdate(bool force)
if ((device_id != 0) && (device_id == sensor_selection.accel_device_id)) {
if (_sensor_sub.ChangeInstance(i) && _sensor_sub.registerCallback()) {
PX4_DEBUG("selected sensor changed %d -> %d", _calibration.device_id(), device_id);
PX4_DEBUG("selected sensor changed %" PRIu32 " -> %" PRIu32 "", _calibration.device_id(), device_id);
// clear bias and corrections
_bias.zero();
@ -178,7 +178,7 @@ bool VehicleAcceleration::SensorSelectionUpdate(bool force)
}
}
PX4_ERR("unable to find or subscribe to selected sensor (%d)", sensor_selection.accel_device_id);
PX4_ERR("unable to find or subscribe to selected sensor (%" PRIu32 ")", sensor_selection.accel_device_id);
_calibration.set_device_id(0);
}
}
@ -256,7 +256,7 @@ void VehicleAcceleration::Run()
void VehicleAcceleration::PrintStatus()
{
PX4_INFO("selected sensor: %d, rate: %.1f Hz, estimated bias: [%.4f %.4f %.4f]",
PX4_INFO("selected sensor: %" PRIu32 ", rate: %.1f Hz, estimated bias: [%.4f %.4f %.4f]",
_calibration.device_id(), (double)_filter_sample_rate,
(double)_bias(0), (double)_bias(1), (double)_bias(2));

7
src/modules/sensors/vehicle_air_data/VehicleAirData.cpp
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@ -207,7 +207,7 @@ void VehicleAirData::Run()
}
if (_selected_sensor_sub_index >= 0) {
PX4_INFO("%s switch from #%u -> #%d", "BARO", _selected_sensor_sub_index, best_index);
PX4_INFO("%s switch from #%" PRIu8 " -> #%d", "BARO", _selected_sensor_sub_index, best_index);
}
_selected_sensor_sub_index = best_index;
@ -316,10 +316,11 @@ void VehicleAirData::Run()
void VehicleAirData::PrintStatus()
{
if (_selected_sensor_sub_index >= 0) {
PX4_INFO("selected barometer: %d (%d)", _last_data[_selected_sensor_sub_index].device_id, _selected_sensor_sub_index);
PX4_INFO("selected barometer: %" PRIu32 " (%" PRId8 ")", _last_data[_selected_sensor_sub_index].device_id,
_selected_sensor_sub_index);
if (fabsf(_thermal_offset[_selected_sensor_sub_index]) > 0.f) {
PX4_INFO("%d temperature offset: %.4f", _last_data[_selected_sensor_sub_index].device_id,
PX4_INFO("%" PRIu32 " temperature offset: %.4f", _last_data[_selected_sensor_sub_index].device_id,
(double)_thermal_offset[_selected_sensor_sub_index]);
}
}

4
src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.cpp
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@ -265,7 +265,7 @@ bool VehicleAngularVelocity::SensorSelectionUpdate(bool force)
}
}
PX4_ERR("unable to find or subscribe to selected sensor (%d)", sensor_selection.gyro_device_id);
PX4_ERR("unable to find or subscribe to selected sensor (%" PRIu32 ")", sensor_selection.gyro_device_id);
_selected_sensor_device_id = 0;
}
}
@ -784,7 +784,7 @@ void VehicleAngularVelocity::CalibrateAndPublish(bool publish, const hrt_abstime
void VehicleAngularVelocity::PrintStatus()
{
PX4_INFO("selected sensor: %d, rate: %.1f Hz %s",
PX4_INFO("selected sensor: %" PRIu32 ", rate: %.1f Hz %s",
_selected_sensor_device_id, (double)_filter_sample_rate_hz, _fifo_available ? "FIFO" : "");
PX4_INFO("estimated bias: [%.4f %.4f %.4f]", (double)_bias(0), (double)_bias(1), (double)_bias(2));

15
src/modules/sensors/vehicle_imu/VehicleIMU.cpp
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@ -119,10 +119,10 @@ void VehicleIMU::ParametersUpdate(bool force)
// constrain IMU integration time 1-10 milliseconds (100-1000 Hz)
int32_t imu_integration_rate_hz = constrain(_param_imu_integ_rate.get(),
100, math::max(_param_imu_gyro_ratemax.get(), 1000));
(int32_t)100, math::max(_param_imu_gyro_ratemax.get(), (int32_t) 1000));
if (imu_integration_rate_hz != _param_imu_integ_rate.get()) {
PX4_WARN("IMU_INTEG_RATE updated %d -> %d", _param_imu_integ_rate.get(), imu_integration_rate_hz);
PX4_WARN("IMU_INTEG_RATE updated %" PRId32 " -> %" PRIu32, _param_imu_integ_rate.get(), imu_integration_rate_hz);
_param_imu_integ_rate.set(imu_integration_rate_hz);
_param_imu_integ_rate.commit_no_notification();
}
@ -322,7 +322,7 @@ bool VehicleIMU::UpdateAccel()
const uint64_t clipping_total = _status.accel_clipping[0] + _status.accel_clipping[1] + _status.accel_clipping[2];
if (clipping_total > _last_clipping_notify_total_count + 1000) {
mavlink_log_critical(&_mavlink_log_pub, "Accel %d clipping, not safe to fly!", _instance);
mavlink_log_critical(&_mavlink_log_pub, "Accel %" PRIu8 " clipping, not safe to fly!", _instance);
_last_clipping_notify_time = accel.timestamp_sample;
_last_clipping_notify_total_count = clipping_total;
}
@ -530,7 +530,8 @@ void VehicleIMU::UpdateIntegratorConfiguration()
_intervals_configured = true;
_update_integrator_config = false;
PX4_DEBUG("accel (%d), gyro (%d), accel samples: %d, gyro samples: %d, accel interval: %.1f, gyro interval: %.1f sub samples: %d",
PX4_DEBUG("accel (%" PRIu32 "), gyro (%" PRIu32 "), accel samples: %" PRIu8 ", gyro samples: %" PRIu8
", accel interval: %.1f, gyro interval: %.1f sub samples: %d",
_accel_calibration.device_id(), _gyro_calibration.device_id(), accel_integral_samples, gyro_integral_samples,
(double)_accel_interval_us, (double)_gyro_interval_us, n);
@ -564,8 +565,10 @@ void VehicleIMU::UpdateGyroVibrationMetrics(const Vector3f &delta_angle)
void VehicleIMU::PrintStatus()
{
PX4_INFO("%d - Accel ID: %d, interval: %.1f us (SD %.1f us), Gyro ID: %d, interval: %.1f us (SD %.1f us)", _instance,
_accel_calibration.device_id(), (double)_accel_interval_us, (double)sqrtf(_accel_interval_best_variance),
PX4_INFO("%" PRIu8 " - Accel ID: %" PRIu32 ", interval: %.1f us (SD %.1f us), Gyro ID: %" PRIu32
", interval: %.1f us (SD %.1f us)",
_instance, _accel_calibration.device_id(), (double)_accel_interval_us, (double)sqrtf(_accel_interval_best_variance),
_gyro_calibration.device_id(), (double)_gyro_interval_us, (double)sqrtf(_gyro_interval_best_variance));
perf_print_counter(_accel_generation_gap_perf);

8
src/modules/sensors/vehicle_magnetometer/VehicleMagnetometer.cpp
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@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2020 PX4 Development Team. All rights reserved.
* Copyright (c) 2020, 2001 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@ -217,7 +217,7 @@ void VehicleMagnetometer::MagCalibrationUpdate()
if (_calibration[mag_index].set_offset(mag_cal_offset)) {
PX4_INFO("%d (%d) EST:%d offset committed: [%.2f %.2f %.2f]->[%.2f %.2f %.2f] (full [%.2f %.2f %.2f])",
PX4_INFO("%d (%" PRIu32 ") EST:%d offset committed: [%.2f %.2f %.2f]->[%.2f %.2f %.2f] (full [%.2f %.2f %.2f])",
mag_index, _calibration[mag_index].device_id(), i,
(double)mag_cal_orig(0), (double)mag_cal_orig(1), (double)mag_cal_orig(2),
(double)mag_cal_offset(0), (double)mag_cal_offset(1), (double)mag_cal_offset(2),
@ -375,7 +375,7 @@ void VehicleMagnetometer::Run()
if (_param_sens_mag_mode.get()) {
if (_selected_sensor_sub_index >= 0) {
PX4_INFO("%s switch from #%u -> #%d", "MAG", _selected_sensor_sub_index, best_index);
PX4_INFO("%s switch from #%" PRId8 " -> #%d", "MAG", _selected_sensor_sub_index, best_index);
}
}
@ -530,7 +530,7 @@ void VehicleMagnetometer::calcMagInconsistency()
void VehicleMagnetometer::PrintStatus()
{
if (_selected_sensor_sub_index >= 0) {
PX4_INFO("selected magnetometer: %d (%d)", _last_data[_selected_sensor_sub_index].device_id,
PX4_INFO("selected magnetometer: %" PRIu32 " (%" PRId8 ")", _last_data[_selected_sensor_sub_index].device_id,
_selected_sensor_sub_index);
}

12
src/modules/sensors/voted_sensors_update.cpp
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@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2016 PX4 Development Team. All rights reserved.
* Copyright (c) 2016, 2021 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@ -106,7 +106,8 @@ void VotedSensorsUpdate::parametersUpdate()
} else {
// change relative priority to incorporate any sensor faults
int priority_change = _accel.priority_configured[uorb_index] - accel_priority_old;
_accel.priority[uorb_index] = math::constrain(_accel.priority[uorb_index] + priority_change, 1, 100);
_accel.priority[uorb_index] = math::constrain(_accel.priority[uorb_index] + priority_change, static_cast<int32_t>(1),
static_cast<int32_t>(100));
}
}
}
@ -128,7 +129,8 @@ void VotedSensorsUpdate::parametersUpdate()
} else {
// change relative priority to incorporate any sensor faults
int priority_change = _gyro.priority_configured[uorb_index] - gyro_priority_old;
_gyro.priority[uorb_index] = math::constrain(_gyro.priority[uorb_index] + priority_change, 1, 100);
_gyro.priority[uorb_index] = math::constrain(_gyro.priority[uorb_index] + priority_change, static_cast<int32_t>(1),
static_cast<int32_t>(100));
}
}
}
@ -355,11 +357,11 @@ void VotedSensorsUpdate::initSensorClass(SensorData &sensor_data, uint8_t sensor
void VotedSensorsUpdate::printStatus()
{
PX4_INFO("selected gyro: %d (%d)", _selection.gyro_device_id, _gyro.last_best_vote);
PX4_INFO("selected gyro: %" PRIu32 " (%" PRIu8 ")", _selection.gyro_device_id, _gyro.last_best_vote);
_gyro.voter.print();
PX4_INFO_RAW("\n");
PX4_INFO("selected accel: %d (%d)", _selection.accel_device_id, _accel.last_best_vote);
PX4_INFO("selected accel: %" PRIu32 " (%" PRIu8 ")", _selection.accel_device_id, _accel.last_best_vote);
_accel.voter.print();
}