Merge pull request #1527 from dagar/Werror

turn on -Werror and fix resulting errors

48 files changed, 102 insertions, 35 deletions

diff --git a/makefiles/toolchain_gnu-arm-eabi.mk b/makefiles/toolchain_gnu-arm-eabi.mk
index 84e5cd08a..7119c723b 100644
--- a/makefiles/toolchain_gnu-arm-eabi.mk
+++ b/makefiles/toolchain_gnu-arm-eabi.mk
@@ -127,6 +127,7 @@ ARCHCXXFLAGS		 = -fno-exceptions -fno-rtti -std=gnu++0x -fno-threadsafe-statics
 #
 ARCHWARNINGS		 = -Wall \
 			   -Wextra \
+			   -Werror \
 			   -Wdouble-promotion \
 			   -Wshadow \
 			   -Wfloat-equal \
diff --git a/src/drivers/ardrone_interface/ardrone_interface.c b/src/drivers/ardrone_interface/ardrone_interface.c
index 9d2c1441d..7f1b21a95 100644
--- a/src/drivers/ardrone_interface/ardrone_interface.c
+++ b/src/drivers/ardrone_interface/ardrone_interface.c
@@ -121,7 +121,7 @@ int ardrone_interface_main(int argc, char *argv[])
 						    SCHED_PRIORITY_MAX - 15,
 						    1100,
 						    ardrone_interface_thread_main,
-						    (argv) ? (const char **)&argv[2] : (const char **)NULL);
+						    (argv) ? (char * const *)&argv[2] : (char * const *)NULL);
 		exit(0);
 	}
 
diff --git a/src/drivers/boards/aerocore/aerocore_led.c b/src/drivers/boards/aerocore/aerocore_led.c
index e40d1730c..94a716029 100644
--- a/src/drivers/boards/aerocore/aerocore_led.c
+++ b/src/drivers/boards/aerocore/aerocore_led.c
@@ -45,6 +45,7 @@
 #include "board_config.h"
 
 #include <arch/board/board.h>
+#include <systemlib/err.h>
 
 /*
  * Ideally we'd be able to get these from up_internal.h,
@@ -54,7 +55,7 @@
  * CONFIG_ARCH_LEDS configuration switch.
  */
 __BEGIN_DECLS
-extern void led_init();
+extern void led_init(void);
 extern void led_on(int led);
 extern void led_off(int led);
 extern void led_toggle(int led);
diff --git a/src/drivers/frsky_telemetry/frsky_telemetry.c b/src/drivers/frsky_telemetry/frsky_telemetry.c
index bccdf1190..5035600ef 100644
--- a/src/drivers/frsky_telemetry/frsky_telemetry.c
+++ b/src/drivers/frsky_telemetry/frsky_telemetry.c
@@ -221,7 +221,7 @@ int frsky_telemetry_main(int argc, char *argv[])
 					  SCHED_PRIORITY_DEFAULT,
 					  2000,
 					  frsky_telemetry_thread_main,
-					  (const char **)argv);
+					  (char * const *)argv);
 
 		while (!thread_running) {
 			usleep(200);
diff --git a/src/drivers/hott/hott_sensors/hott_sensors.cpp b/src/drivers/hott/hott_sensors/hott_sensors.cpp
index 8ab9d8d55..4b8e0c0b0 100644
--- a/src/drivers/hott/hott_sensors/hott_sensors.cpp
+++ b/src/drivers/hott/hott_sensors/hott_sensors.cpp
@@ -214,7 +214,7 @@ hott_sensors_main(int argc, char *argv[])
 					     SCHED_PRIORITY_DEFAULT,
 					     1024,
 					     hott_sensors_thread_main,
-					     (argv) ? (const char **)&argv[2] : (const char **)NULL);
+					     (argv) ? (char * const *)&argv[2] : (char * const *)NULL);
 		exit(0);
 	}
 
diff --git a/src/drivers/hott/hott_telemetry/hott_telemetry.cpp b/src/drivers/hott/hott_telemetry/hott_telemetry.cpp
index edbb14172..17a24d104 100644
--- a/src/drivers/hott/hott_telemetry/hott_telemetry.cpp
+++ b/src/drivers/hott/hott_telemetry/hott_telemetry.cpp
@@ -240,7 +240,7 @@ hott_telemetry_main(int argc, char *argv[])
 					 SCHED_PRIORITY_DEFAULT,
 					 2048,
 					 hott_telemetry_thread_main,
-					 (argv) ? (const char **)&argv[2] : (const char **)NULL);
+					 (argv) ? (char * const *)&argv[2] : (char * const *)NULL);
 		exit(0);
 	}
 
diff --git a/src/drivers/px4flow/module.mk b/src/drivers/px4flow/module.mk
index 460bec7b9..ecd3e804a 100644
--- a/src/drivers/px4flow/module.mk
+++ b/src/drivers/px4flow/module.mk
@@ -40,3 +40,5 @@ MODULE_COMMAND	= px4flow
 SRCS		= px4flow.cpp
 
 MAXOPTIMIZATION	 = -Os
+
+EXTRACXXFLAGS = -Wno-attributes
diff --git a/src/drivers/px4flow/px4flow.cpp b/src/drivers/px4flow/px4flow.cpp
index 09ec4bf96..62308fc65 100644
--- a/src/drivers/px4flow/px4flow.cpp
+++ b/src/drivers/px4flow/px4flow.cpp
@@ -106,7 +106,7 @@ struct i2c_frame {
 };
 struct i2c_frame f;
 
-typedef struct i2c_integral_frame {
+struct i2c_integral_frame {
 	uint16_t frame_count_since_last_readout;
 	int16_t pixel_flow_x_integral;
 	int16_t pixel_flow_y_integral;
diff --git a/src/drivers/roboclaw/roboclaw_main.cpp b/src/drivers/roboclaw/roboclaw_main.cpp
index 44ed03254..83086fd7c 100644
--- a/src/drivers/roboclaw/roboclaw_main.cpp
+++ b/src/drivers/roboclaw/roboclaw_main.cpp
@@ -109,7 +109,7 @@ int roboclaw_main(int argc, char *argv[])
 					 SCHED_PRIORITY_MAX - 10,
 					 2048,
 					 roboclaw_thread_main,
-					 (const char **)argv);
+					 (char * const *)argv);
 		exit(0);
 
 	} else if (!strcmp(argv[1], "test")) {
diff --git a/src/drivers/trone/trone.cpp b/src/drivers/trone/trone.cpp
index 83b5c987e..cf3546669 100644
--- a/src/drivers/trone/trone.cpp
+++ b/src/drivers/trone/trone.cpp
@@ -206,7 +206,7 @@ static const uint8_t crc_table[] = {
     0xfa, 0xfd, 0xf4, 0xf3
 };
 
-uint8_t crc8(uint8_t *p, uint8_t len){
+static uint8_t crc8(uint8_t *p, uint8_t len) {
         uint16_t i;
         uint16_t crc = 0x0;
 
diff --git a/src/examples/fixedwing_control/main.c b/src/examples/fixedwing_control/main.c
index 6a5cbcd30..fcbb54c8e 100644
--- a/src/examples/fixedwing_control/main.c
+++ b/src/examples/fixedwing_control/main.c
@@ -423,7 +423,7 @@ int ex_fixedwing_control_main(int argc, char *argv[])
 					 SCHED_PRIORITY_MAX - 20,
 					 2048,
 					 fixedwing_control_thread_main,
-					 (argv) ? (const char **)&argv[2] : (const char **)NULL);
+					 (argv) ? (char * const *)&argv[2] : (char * const *)NULL);
 		thread_running = true;
 		exit(0);
 	}
diff --git a/src/examples/fixedwing_control/module.mk b/src/examples/fixedwing_control/module.mk
index a2a9eb113..f6c882ead 100644
--- a/src/examples/fixedwing_control/module.mk
+++ b/src/examples/fixedwing_control/module.mk
@@ -41,3 +41,5 @@ SRCS		= main.c \
 		  params.c
 
 MODULE_STACKSIZE = 1200
+
+EXTRACFLAGS = -Wframe-larger-than=1200
diff --git a/src/examples/flow_position_estimator/flow_position_estimator_main.c b/src/examples/flow_position_estimator/flow_position_estimator_main.c
index 0b8c01f79..a89ccf933 100644
--- a/src/examples/flow_position_estimator/flow_position_estimator_main.c
+++ b/src/examples/flow_position_estimator/flow_position_estimator_main.c
@@ -114,7 +114,7 @@ int flow_position_estimator_main(int argc, char *argv[])
 					 SCHED_PRIORITY_MAX - 5,
 					 4000,
 					 flow_position_estimator_thread_main,
-					 (argv) ? (const char **)&argv[2] : (const char **)NULL);
+					 (argv) ? (char * const *)&argv[2] : (char * const *)NULL);
 		exit(0);
 	}
 
diff --git a/src/examples/flow_position_estimator/module.mk b/src/examples/flow_position_estimator/module.mk
index 88c9ceb93..5c6e29f8f 100644
--- a/src/examples/flow_position_estimator/module.mk
+++ b/src/examples/flow_position_estimator/module.mk
@@ -39,3 +39,5 @@ MODULE_COMMAND		= flow_position_estimator
 
 SRCS		= flow_position_estimator_main.c \
 		  flow_position_estimator_params.c
+		  
+EXTRACFLAGS = -Wno-float-equal
diff --git a/src/examples/hwtest/hwtest.c b/src/examples/hwtest/hwtest.c
index d3b10f46e..95ff346bb 100644
--- a/src/examples/hwtest/hwtest.c
+++ b/src/examples/hwtest/hwtest.c
@@ -39,13 +39,15 @@
  * @author Lorenz Meier <lm@inf.ethz.ch>
  */
 
-#include <nuttx/config.h>
 #include <stdio.h>
-#include <systemlib/err.h>
+#include <string.h>
+
 #include <drivers/drv_hrt.h>
-#include <uORB/uORB.h>
-#include <uORB/topics/actuator_controls.h>
+#include <nuttx/config.h>
+#include <systemlib/err.h>
 #include <uORB/topics/actuator_armed.h>
+#include <uORB/topics/actuator_controls.h>
+#include <uORB/uORB.h>
 
 __EXPORT int ex_hwtest_main(int argc, char *argv[]);
 
@@ -53,7 +55,7 @@ int ex_hwtest_main(int argc, char *argv[])
 {
 	warnx("DO NOT FORGET TO STOP THE COMMANDER APP!");
 	warnx("(run <commander stop> to do so)");
-    warnx("usage: http://px4.io/dev/examples/write_output");
+	warnx("usage: http://px4.io/dev/examples/write_output");
 
 	struct actuator_controls_s actuators;
 	memset(&actuators, 0, sizeof(actuators));
diff --git a/src/examples/matlab_csv_serial/matlab_csv_serial.c b/src/examples/matlab_csv_serial/matlab_csv_serial.c
index c66bebeec..a95f45d1a 100644
--- a/src/examples/matlab_csv_serial/matlab_csv_serial.c
+++ b/src/examples/matlab_csv_serial/matlab_csv_serial.c
@@ -107,7 +107,7 @@ int matlab_csv_serial_main(int argc, char *argv[])
 					 SCHED_PRIORITY_MAX - 5,
 					 2000,
 					 matlab_csv_serial_thread_main,
-					 (argv) ? (const char **)&argv[2] : (const char **)NULL);
+					 (argv) ? (char * const *)&argv[2] : (char * const *)NULL);
 		exit(0);
 	}
 
diff --git a/src/examples/px4_daemon_app/px4_daemon_app.c b/src/examples/px4_daemon_app/px4_daemon_app.c
index 3eaf14148..45d541137 100644
--- a/src/examples/px4_daemon_app/px4_daemon_app.c
+++ b/src/examples/px4_daemon_app/px4_daemon_app.c
@@ -38,10 +38,13 @@
  * @author Example User <mail@example.com>
  */
 
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <unistd.h>
+
 #include <nuttx/config.h>
 #include <nuttx/sched.h>
-#include <unistd.h>
-#include <stdio.h>
 
 #include <systemlib/systemlib.h>
 #include <systemlib/err.h>
@@ -100,7 +103,7 @@ int px4_daemon_app_main(int argc, char *argv[])
 					 SCHED_PRIORITY_DEFAULT,
 					 2000,
 					 px4_daemon_thread_main,
-					 (argv) ? (const char **)&argv[2] : (const char **)NULL);
+					 (argv) ? (char * const *)&argv[2] : (char * const *)NULL);
 		exit(0);
 	}
 
diff --git a/src/lib/conversion/rotation.cpp b/src/lib/conversion/rotation.cpp
index e17715733..1fe36d395 100644
--- a/src/lib/conversion/rotation.cpp
+++ b/src/lib/conversion/rotation.cpp
@@ -181,6 +181,11 @@ rotate_3f(enum Rotation rot, float &x, float &y, float &z)
         x = tmp;
         return;
     }
+    case ROTATION_ROLL_270_YAW_270: {
+        tmp = z; z = -y; y = tmp;
+        tmp = x; x = y; y = -tmp;
+        return;
+    }
     case ROTATION_PITCH_90: {
         tmp = z; z = -x; x = tmp;
         return;
diff --git a/src/lib/rc/st24.c b/src/lib/rc/st24.c
index e8a791b8f..5c53a1602 100644
--- a/src/lib/rc/st24.c
+++ b/src/lib/rc/st24.c
@@ -72,7 +72,7 @@ const char *decode_states[] = {"UNSYNCED",
 #define ST24_SCALE_OFFSET (int)(ST24_TARGET_MIN - (ST24_SCALE_FACTOR * ST24_RANGE_MIN + 0.5f))
 
 static enum ST24_DECODE_STATE _decode_state = ST24_DECODE_STATE_UNSYNCED;
-static unsigned _rxlen;
+static uint8_t _rxlen;
 
 static ReceiverFcPacket _rxpacket;
 
diff --git a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
index 6068ab082..a9205b6fd 100755
--- a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
+++ b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
@@ -134,7 +134,7 @@ int attitude_estimator_ekf_main(int argc, char *argv[])
 					      SCHED_PRIORITY_MAX - 5,
 					      7200,
 					      attitude_estimator_ekf_thread_main,
-					      (argv) ? (const char **)&argv[2] : (const char **)NULL);
+					      (argv) ? (char * const *)&argv[2] : (char * const *)NULL);
 		exit(0);
 	}
 
@@ -275,7 +275,8 @@ const unsigned int loop_interval_alarm = 6500;	// loop interval in microseconds
 	/* keep track of sensor updates */
 	uint64_t sensor_last_timestamp[3] = {0, 0, 0};
 
-	struct attitude_estimator_ekf_params ekf_params = { 0 };
+	struct attitude_estimator_ekf_params ekf_params;
+	memset(&ekf_params, 0, sizeof(ekf_params));
 
 	struct attitude_estimator_ekf_param_handles ekf_param_handles = { 0 };
 
diff --git a/src/modules/attitude_estimator_ekf/module.mk b/src/modules/attitude_estimator_ekf/module.mk
index 749b0a91c..3a3e1cc69 100644
--- a/src/modules/attitude_estimator_ekf/module.mk
+++ b/src/modules/attitude_estimator_ekf/module.mk
@@ -42,3 +42,7 @@ SRCS		 = attitude_estimator_ekf_main.cpp \
 		   codegen/AttitudeEKF.c
 
 MODULE_STACKSIZE = 1200
+
+EXTRACFLAGS = -Wno-float-equal -Wframe-larger-than=3600
+
+EXTRACXXFLAGS = -Wframe-larger-than=2200
diff --git a/src/modules/attitude_estimator_so3/attitude_estimator_so3_main.cpp b/src/modules/attitude_estimator_so3/attitude_estimator_so3_main.cpp
index e49027e47..9414225ca 100755
--- a/src/modules/attitude_estimator_so3/attitude_estimator_so3_main.cpp
+++ b/src/modules/attitude_estimator_so3/attitude_estimator_so3_main.cpp
@@ -153,7 +153,7 @@ int attitude_estimator_so3_main(int argc, char *argv[])
 					      SCHED_PRIORITY_MAX - 5,
 					      14000,
 					      attitude_estimator_so3_thread_main,
-					      (argv) ? (const char **)&argv[2] : (const char **)NULL);
+					      (argv) ? (char * const *)&argv[2] : (char * const *)NULL);
 		exit(0);
 	}
 
diff --git a/src/modules/attitude_estimator_so3/module.mk b/src/modules/attitude_estimator_so3/module.mk
index f52715abb..7b2e206cc 100644
--- a/src/modules/attitude_estimator_so3/module.mk
+++ b/src/modules/attitude_estimator_so3/module.mk
@@ -8,3 +8,5 @@ SRCS		 = attitude_estimator_so3_main.cpp \
 		   attitude_estimator_so3_params.c
 
 MODULE_STACKSIZE = 1200
+
+EXTRACXXFLAGS = -Wno-float-equal
diff --git a/src/modules/bottle_drop/bottle_drop.cpp b/src/modules/bottle_drop/bottle_drop.cpp
index e0bcbc6e9..4580b338d 100644
--- a/src/modules/bottle_drop/bottle_drop.cpp
+++ b/src/modules/bottle_drop/bottle_drop.cpp
@@ -523,6 +523,9 @@ BottleDrop::task_main()
 			}
 
 			switch (_drop_state) {
+				case DROP_STATE_INIT:
+					// do nothing
+					break;
 
 				case DROP_STATE_TARGET_VALID:
 				{
@@ -689,6 +692,10 @@ BottleDrop::task_main()
 						orb_publish(ORB_ID(onboard_mission), _onboard_mission_pub, &_onboard_mission);
 					}
 					break;
+
+				case DROP_STATE_BAY_CLOSED:
+					// do nothing
+					break;
 			}
 
 			counter++;
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index 9262f9e81..ea3166051 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -268,7 +268,7 @@ int commander_main(int argc, char *argv[])
 					     SCHED_PRIORITY_MAX - 40,
 					     3200,
 					     commander_thread_main,
-					     (argv) ? (const char **)&argv[2] : (const char **)NULL);
+					     (argv) ? (char * const *)&argv[2] : (char * const *)NULL);
 
 		while (!thread_running) {
 			usleep(200);
diff --git a/src/modules/commander/module.mk b/src/modules/commander/module.mk
index 27ca5c182..dac2ce59a 100644
--- a/src/modules/commander/module.mk
+++ b/src/modules/commander/module.mk
@@ -51,3 +51,6 @@ SRCS		 	= commander.cpp \
 MODULE_STACKSIZE = 1200
 
 MAXOPTIMIZATION	 = -Os
+
+EXTRACXXFLAGS = -Wframe-larger-than=1900
+
diff --git a/src/modules/ekf_att_pos_estimator/module.mk b/src/modules/ekf_att_pos_estimator/module.mk
index 36d854ddd..4311fb3f9 100644
--- a/src/modules/ekf_att_pos_estimator/module.mk
+++ b/src/modules/ekf_att_pos_estimator/module.mk
@@ -42,4 +42,5 @@ SRCS		= ekf_att_pos_estimator_main.cpp \
 		  estimator_23states.cpp \
 		  estimator_utilities.cpp
 
-EXTRACXXFLAGS	= -Weffc++
+EXTRACXXFLAGS	= -Weffc++ -Wframe-larger-than=3000
+
diff --git a/src/modules/fixedwing_backside/fixedwing_backside_main.cpp b/src/modules/fixedwing_backside/fixedwing_backside_main.cpp
index f4ea05088..71b387b1e 100644
--- a/src/modules/fixedwing_backside/fixedwing_backside_main.cpp
+++ b/src/modules/fixedwing_backside/fixedwing_backside_main.cpp
@@ -115,7 +115,7 @@ int fixedwing_backside_main(int argc, char *argv[])
 					 SCHED_PRIORITY_MAX - 10,
 					 5120,
 					 control_demo_thread_main,
-					 (argv) ? (const char **)&argv[2] : (const char **)NULL);
+					 (argv) ? (char * const *)&argv[2] : (char * const *)NULL);
 		exit(0);
 	}
 
diff --git a/src/modules/fw_pos_control_l1/module.mk b/src/modules/fw_pos_control_l1/module.mk
index 440bab2c5..98e5c0a1e 100644
--- a/src/modules/fw_pos_control_l1/module.mk
+++ b/src/modules/fw_pos_control_l1/module.mk
@@ -47,3 +47,5 @@ SRCS		= fw_pos_control_l1_main.cpp \
 MODULE_STACKSIZE = 1200
 
 MAXOPTIMIZATION	 = -Os
+
+EXTRACXXFLAGS = -Wno-float-equal
diff --git a/src/modules/mavlink/mavlink_ftp.cpp b/src/modules/mavlink/mavlink_ftp.cpp
index f17497aa8..4ba595a87 100644
--- a/src/modules/mavlink/mavlink_ftp.cpp
+++ b/src/modules/mavlink/mavlink_ftp.cpp
@@ -801,7 +801,7 @@ MavlinkFTP::_return_request(Request *req)
 
 /// @brief Copy file (with limited space)
 int
-MavlinkFTP::_copy_file(const char *src_path, const char *dst_path, ssize_t length)
+MavlinkFTP::_copy_file(const char *src_path, const char *dst_path, size_t length)
 {
 	char buff[512];
 	int src_fd = -1, dst_fd = -1;
diff --git a/src/modules/mavlink/mavlink_ftp.h b/src/modules/mavlink/mavlink_ftp.h
index bef6775a9..9693a92a9 100644
--- a/src/modules/mavlink/mavlink_ftp.h
+++ b/src/modules/mavlink/mavlink_ftp.h
@@ -142,7 +142,7 @@ private:
 	static void	_worker_trampoline(void *arg);
 	void		_process_request(Request *req);
 	void		_reply(Request *req);
-	int		_copy_file(const char *src_path, const char *dst_path, ssize_t length);
+	int		_copy_file(const char *src_path, const char *dst_path, size_t length);
 
 	ErrorCode	_workList(PayloadHeader *payload);
 	ErrorCode	_workOpen(PayloadHeader *payload, int oflag);
diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp
index 29b7ec7b7..08a9ac76b 100644
--- a/src/modules/mavlink/mavlink_main.cpp
+++ b/src/modules/mavlink/mavlink_main.cpp
@@ -1638,7 +1638,7 @@ Mavlink::start(int argc, char *argv[])
 		       SCHED_PRIORITY_DEFAULT,
 		       2800,
 		       (main_t)&Mavlink::start_helper,
-		       (const char **)argv);
+		       (char * const *)argv);
 
 	// Ensure that this shell command
 	// does not return before the instance
diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp
index 378e3427d..2203ea1e7 100644
--- a/src/modules/mavlink/mavlink_messages.cpp
+++ b/src/modules/mavlink/mavlink_messages.cpp
@@ -1764,6 +1764,9 @@ protected:
 				case RC_INPUT_SOURCE_PX4IO_ST24:
 					msg.rssi |= (3 << 4);
 					break;
+				case RC_INPUT_SOURCE_UNKNOWN:
+					// do nothing
+					break;
 			}
 
 			if (rc.rc_lost) {
diff --git a/src/modules/navigator/module.mk b/src/modules/navigator/module.mk
index c44d4c35e..0d7d6b9ef 100644
--- a/src/modules/navigator/module.mk
+++ b/src/modules/navigator/module.mk
@@ -62,3 +62,5 @@ INCLUDE_DIRS	 += $(MAVLINK_SRC)/include/mavlink
 MODULE_STACKSIZE = 1200
 
 MAXOPTIMIZATION = -Os
+
+EXTRACXXFLAGS	= -Wno-sign-compare
diff --git a/src/modules/position_estimator_inav/module.mk b/src/modules/position_estimator_inav/module.mk
index 0658d3f09..45c876299 100644
--- a/src/modules/position_estimator_inav/module.mk
+++ b/src/modules/position_estimator_inav/module.mk
@@ -41,3 +41,6 @@ SRCS		 	= position_estimator_inav_main.c \
 			inertial_filter.c
 
 MODULE_STACKSIZE = 1200
+
+EXTRACFLAGS = -Wframe-larger-than=3500
+
diff --git a/src/modules/position_estimator_inav/position_estimator_inav_main.c b/src/modules/position_estimator_inav/position_estimator_inav_main.c
index 0af01cba1..43829ede5 100644
--- a/src/modules/position_estimator_inav/position_estimator_inav_main.c
+++ b/src/modules/position_estimator_inav/position_estimator_inav_main.c
@@ -151,7 +151,7 @@ int position_estimator_inav_main(int argc, char *argv[])
 		position_estimator_inav_task = task_spawn_cmd("position_estimator_inav",
 					       SCHED_DEFAULT, SCHED_PRIORITY_MAX - 5, 5000,
 					       position_estimator_inav_thread_main,
-					       (argv) ? (const char **) &argv[2] : (const char **) NULL);
+					       (argv) ? (char * const *) &argv[2] : (char * const *) NULL);
 		exit(0);
 	}
 
diff --git a/src/modules/sdlog2/module.mk b/src/modules/sdlog2/module.mk
index d4a00af39..f1118000e 100644
--- a/src/modules/sdlog2/module.mk
+++ b/src/modules/sdlog2/module.mk
@@ -45,3 +45,6 @@ SRCS = sdlog2.c \
 MODULE_STACKSIZE = 1200
 
 MAXOPTIMIZATION	 = -Os
+
+EXTRACFLAGS = -Wframe-larger-than=1200
+
diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c
index 6df677338..0a8564da6 100644
--- a/src/modules/sdlog2/sdlog2.c
+++ b/src/modules/sdlog2/sdlog2.c
@@ -304,7 +304,7 @@ int sdlog2_main(int argc, char *argv[])
 						 SCHED_PRIORITY_DEFAULT - 30,
 						 3000,
 						 sdlog2_thread_main,
-						 (const char **)argv);
+						 (char * const *)argv);
 		exit(0);
 	}
 
@@ -1089,6 +1089,8 @@ int sdlog2_thread_main(int argc, char *argv[])
 
 	if (_extended_logging) {
 		subs.sat_info_sub = orb_subscribe(ORB_ID(satellite_info));
+	} else {
+		subs.sat_info_sub = 0;
 	}
 
 	/* close non-needed fd's */
diff --git a/src/modules/segway/segway_main.cpp b/src/modules/segway/segway_main.cpp
index 061fbf9b9..ee492f85a 100644
--- a/src/modules/segway/segway_main.cpp
+++ b/src/modules/segway/segway_main.cpp
@@ -110,7 +110,7 @@ int segway_main(int argc, char *argv[])
 					 SCHED_PRIORITY_MAX - 10,
 					 5120,
 					 segway_thread_main,
-					 (argv) ? (const char **)&argv[2] : (const char **)NULL);
+					 (argv) ? (char * const *)&argv[2] : (char * const *)NULL);
 		exit(0);
 	}
 
diff --git a/src/modules/sensors/module.mk b/src/modules/sensors/module.mk
index dfbba92d9..f37bc9327 100644
--- a/src/modules/sensors/module.mk
+++ b/src/modules/sensors/module.mk
@@ -44,3 +44,5 @@ SRCS		= sensors.cpp \
 MODULE_STACKSIZE = 1200
 
 MAXOPTIMIZATION	 = -Os
+
+EXTRACXXFLAGS	= -Wno-type-limits
diff --git a/src/modules/systemlib/module.mk b/src/modules/systemlib/module.mk
index fe8b7e75a..f4dff2838 100644
--- a/src/modules/systemlib/module.mk
+++ b/src/modules/systemlib/module.mk
@@ -57,3 +57,5 @@ SRCS		 = err.c \
 		   mcu_version.c
 
 MAXOPTIMIZATION	 = -Os
+
+EXTRACFLAGS	= -Wno-sign-compare
diff --git a/src/modules/systemlib/systemlib.c b/src/modules/systemlib/systemlib.c
index 90d8dd77c..82183b0d7 100644
--- a/src/modules/systemlib/systemlib.c
+++ b/src/modules/systemlib/systemlib.c
@@ -87,7 +87,7 @@ static void kill_task(FAR struct tcb_s *tcb, FAR void *arg)
 	kill(tcb->pid, SIGUSR1);
 }
 
-int task_spawn_cmd(const char *name, int scheduler, int priority, int stack_size, main_t entry, const char *argv[])
+int task_spawn_cmd(const char *name, int scheduler, int priority, int stack_size, main_t entry, char * const argv[])
 {
 	int pid;
 
diff --git a/src/modules/systemlib/systemlib.h b/src/modules/systemlib/systemlib.h
index 6e22a557e..2f24215a9 100644
--- a/src/modules/systemlib/systemlib.h
+++ b/src/modules/systemlib/systemlib.h
@@ -64,7 +64,7 @@ __EXPORT int task_spawn_cmd(const char *name,
 			int scheduler,
 			int stack_size,
 			main_t entry,
-			const char *argv[]);
+			char * const argv[]);
 
 enum MULT_PORTS {
 	MULT_0_US2_RXTX = 0,
diff --git a/src/modules/vtol_att_control/module.mk b/src/modules/vtol_att_control/module.mk
index 0d5155e90..0cf3072c8 100644
--- a/src/modules/vtol_att_control/module.mk
+++ b/src/modules/vtol_att_control/module.mk
@@ -39,3 +39,6 @@ MODULE_COMMAND	= vtol_att_control
 
 SRCS		= vtol_att_control_main.cpp \
 			  vtol_att_control_params.c
+
+EXTRACXXFLAGS = -Wno-write-strings
+
diff --git a/src/systemcmds/mixer/module.mk b/src/systemcmds/mixer/module.mk
index cdbff75f0..0fb899c67 100644
--- a/src/systemcmds/mixer/module.mk
+++ b/src/systemcmds/mixer/module.mk
@@ -41,3 +41,6 @@ SRCS		 = mixer.cpp
 MODULE_STACKSIZE = 4096
 
 MAXOPTIMIZATION	 = -Os
+
+EXTRACXXFLAGS = -Wframe-larger-than=2048
+
diff --git a/src/systemcmds/mtd/module.mk b/src/systemcmds/mtd/module.mk
index 1bc4f414e..bca1cdcc1 100644
--- a/src/systemcmds/mtd/module.mk
+++ b/src/systemcmds/mtd/module.mk
@@ -6,3 +6,6 @@ MODULE_COMMAND	 = mtd
 SRCS		 = mtd.c 24xxxx_mtd.c
 
 MAXOPTIMIZATION	 = -Os
+
+EXTRACFLAGS	= -Wno-error
+
diff --git a/src/systemcmds/param/param.c b/src/systemcmds/param/param.c
index e110335e7..80ee204e8 100644
--- a/src/systemcmds/param/param.c
+++ b/src/systemcmds/param/param.c
@@ -212,7 +212,7 @@ static void
 do_show(const char* search_string)
 {
 	printf(" + = saved, * = unsaved\n");
-	param_foreach(do_show_print, search_string, false);
+	param_foreach(do_show_print, (char *)search_string, false);
 
 	exit(0);
 }
diff --git a/src/systemcmds/tests/module.mk b/src/systemcmds/tests/module.mk
index 622a0faf3..6eed3922c 100644
--- a/src/systemcmds/tests/module.mk
+++ b/src/systemcmds/tests/module.mk
@@ -34,3 +34,6 @@ SRCS			 = test_adc.c \
 			   test_conv.cpp \
 			   test_mount.c \
 			   test_mtd.c
+
+EXTRACXXFLAGS = -Wframe-larger-than=2500
+