Merged master into mpc_in_flight_lock

17 files changed, 90 insertions, 70 deletions

diff --git a/src/drivers/blinkm/blinkm.cpp b/src/drivers/blinkm/blinkm.cpp
index 5c502f682..98c491ce6 100644
--- a/src/drivers/blinkm/blinkm.cpp
+++ b/src/drivers/blinkm/blinkm.cpp
@@ -655,13 +655,14 @@ BlinkM::led()
 							/* indicate main control state */
 							if (vehicle_status_raw.main_state == MAIN_STATE_POSCTL)
 								led_color_4 = LED_GREEN;
-							else if (vehicle_status_raw.main_state == MAIN_STATE_AUTO)
+							/* TODO: add other Auto modes */
+							else if (vehicle_status_raw.main_state == MAIN_STATE_AUTO_MISSION)
 								led_color_4 = LED_BLUE;
 							else if (vehicle_status_raw.main_state == MAIN_STATE_ALTCTL)
 								led_color_4 = LED_YELLOW;
 							else if (vehicle_status_raw.main_state == MAIN_STATE_MANUAL)
 								led_color_4 = LED_WHITE;
-							else 
+							else
 								led_color_4 = LED_OFF;
 							led_color_5 = led_color_4;
 						}
diff --git a/src/drivers/boards/px4fmu-v1/px4fmu_init.c b/src/drivers/boards/px4fmu-v1/px4fmu_init.c
index 4b12b75f9..293021f8b 100644
--- a/src/drivers/boards/px4fmu-v1/px4fmu_init.c
+++ b/src/drivers/boards/px4fmu-v1/px4fmu_init.c
@@ -99,7 +99,7 @@
  * 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);
 __END_DECLS
diff --git a/src/drivers/boards/px4fmu-v1/px4fmu_led.c b/src/drivers/boards/px4fmu-v1/px4fmu_led.c
index ea91f34ad..ee53fc43d 100644
--- a/src/drivers/boards/px4fmu-v1/px4fmu_led.c
+++ b/src/drivers/boards/px4fmu-v1/px4fmu_led.c
@@ -54,13 +54,13 @@
  * 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);
 __END_DECLS
 
-__EXPORT void led_init()
+__EXPORT void led_init(void)
 {
 	/* Configure LED1-2 GPIOs for output */
 
diff --git a/src/drivers/boards/px4fmu-v2/px4fmu2_led.c b/src/drivers/boards/px4fmu-v2/px4fmu2_led.c
index a856ccb02..3c05bfa46 100644
--- a/src/drivers/boards/px4fmu-v2/px4fmu2_led.c
+++ b/src/drivers/boards/px4fmu-v2/px4fmu2_led.c
@@ -54,7 +54,7 @@
  * 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/ets_airspeed/ets_airspeed.cpp b/src/drivers/ets_airspeed/ets_airspeed.cpp
index 2de7063ea..1a7e068fe 100644
--- a/src/drivers/ets_airspeed/ets_airspeed.cpp
+++ b/src/drivers/ets_airspeed/ets_airspeed.cpp
@@ -364,7 +364,7 @@ test()
 		err(1, "immediate read failed");
 
 	warnx("single read");
-	warnx("diff pressure: %d pa", report.differential_pressure_pa);
+	warnx("diff pressure: %f pa", (double)report.differential_pressure_pa);
 
 	/* start the sensor polling at 2Hz */
 	if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2))
@@ -389,7 +389,7 @@ test()
 			err(1, "periodic read failed");
 
 		warnx("periodic read %u", i);
-		warnx("diff pressure: %d pa", report.differential_pressure_pa);
+		warnx("diff pressure: %f pa", (double)report.differential_pressure_pa);
 	}
 
 	/* reset the sensor polling to its default rate */
diff --git a/src/drivers/gps/gps.cpp b/src/drivers/gps/gps.cpp
index 5342ccf78..dd505abdb 100644
--- a/src/drivers/gps/gps.cpp
+++ b/src/drivers/gps/gps.cpp
@@ -280,8 +280,8 @@ GPS::task_main()
 			_report.p_variance_m = 10.0f;
 			_report.c_variance_rad = 0.1f;
 			_report.fix_type = 3;
-			_report.eph_m = 0.9f;
-			_report.epv_m = 1.8f;
+			_report.eph = 0.9f;
+			_report.epv = 1.8f;
 			_report.timestamp_velocity = hrt_absolute_time();
 			_report.vel_n_m_s = 0.0f;
 			_report.vel_e_m_s = 0.0f;
@@ -357,7 +357,7 @@ GPS::task_main()
 					}
 
 					if (!_healthy) {
-						char *mode_str = "unknown";
+						const char *mode_str = "unknown";
 
 						switch (_mode) {
 						case GPS_DRIVER_MODE_UBX:
@@ -449,9 +449,9 @@ GPS::print_info()
 
 	if (_report.timestamp_position != 0) {
 		warnx("position lock: %dD, satellites: %d, last update: %8.4fms ago", (int)_report.fix_type,
-				_report.satellites_visible, (double)(hrt_absolute_time() - _report.timestamp_position) / 1000.0f);
+				_report.satellites_visible, (double)(hrt_absolute_time() - _report.timestamp_position) / 1000.0d);
 		warnx("lat: %d, lon: %d, alt: %d", _report.lat, _report.lon, _report.alt);
-		warnx("eph: %.2fm, epv: %.2fm", (double)_report.eph_m, (double)_report.epv_m);
+		warnx("eph: %.2fm, epv: %.2fm", (double)_report.eph, (double)_report.epv);
 		warnx("rate position: \t%6.2f Hz", (double)_Helper->get_position_update_rate());
 		warnx("rate velocity: \t%6.2f Hz", (double)_Helper->get_velocity_update_rate());
 		warnx("rate publication:\t%6.2f Hz", (double)_rate);
@@ -578,7 +578,7 @@ gps_main(int argc, char *argv[])
 {
 
 	/* set to default */
-	char *device_name = GPS_DEFAULT_UART_PORT;
+	const char *device_name = GPS_DEFAULT_UART_PORT;
 	bool fake_gps = false;
 
 	/*
diff --git a/src/drivers/gps/mtk.cpp b/src/drivers/gps/mtk.cpp
index 680f00d97..41716cd97 100644
--- a/src/drivers/gps/mtk.cpp
+++ b/src/drivers/gps/mtk.cpp
@@ -251,16 +251,16 @@ MTK::handle_message(gps_mtk_packet_t &packet)
 		_gps_position->lon = 0;
 
 		// Indicate this data is not usable and bail out
-		_gps_position->eph_m = 1000.0f;
-		_gps_position->epv_m = 1000.0f;
+		_gps_position->eph = 1000.0f;
+		_gps_position->epv = 1000.0f;
 		_gps_position->fix_type = 0;
 		return;
 	}
 
 	_gps_position->alt = (int32_t)(packet.msl_altitude * 10); // from cm to mm
 	_gps_position->fix_type = packet.fix_type;
-	_gps_position->eph_m = packet.hdop / 100.0f; // from cm to m
-	_gps_position->epv_m = _gps_position->eph_m; // unknown in mtk custom mode, so we cheat with eph
+	_gps_position->eph = packet.hdop / 100.0f; // from cm to m
+	_gps_position->epv = _gps_position->eph; // unknown in mtk custom mode, so we cheat with eph
 	_gps_position->vel_m_s = ((float)packet.ground_speed) * 1e-2f; // from cm/s to m/s
 	_gps_position->cog_rad = ((float)packet.heading) * M_DEG_TO_RAD_F * 1e-2f; //from deg *100 to rad
 	_gps_position->satellites_visible = packet.satellites;
diff --git a/src/drivers/gps/ubx.cpp b/src/drivers/gps/ubx.cpp
index c143eeb0c..404607571 100644
--- a/src/drivers/gps/ubx.cpp
+++ b/src/drivers/gps/ubx.cpp
@@ -439,8 +439,8 @@ UBX::handle_message()
 					_gps_position->lat = packet->lat;
 					_gps_position->lon = packet->lon;
 					_gps_position->alt = packet->height_msl;
-					_gps_position->eph_m = (float)packet->hAcc * 1e-3f; // from mm to m
-					_gps_position->epv_m = (float)packet->vAcc * 1e-3f; // from mm to m
+					_gps_position->eph = (float)packet->hAcc * 1e-3f; // from mm to m
+					_gps_position->epv = (float)packet->vAcc * 1e-3f; // from mm to m
 					_gps_position->timestamp_position = hrt_absolute_time();
 
 					_rate_count_lat_lon++;
diff --git a/src/drivers/hmc5883/hmc5883.cpp b/src/drivers/hmc5883/hmc5883.cpp
index fddba806e..b7b368a5e 100644
--- a/src/drivers/hmc5883/hmc5883.cpp
+++ b/src/drivers/hmc5883/hmc5883.cpp
@@ -326,9 +326,9 @@ HMC5883::HMC5883(int bus) :
 	_range_scale(0), /* default range scale from counts to gauss */
 	_range_ga(1.3f),
 	_collect_phase(false),
+	_class_instance(-1),
 	_mag_topic(-1),
 	_subsystem_pub(-1),
-	_class_instance(-1),
 	_sample_perf(perf_alloc(PC_ELAPSED, "hmc5883_read")),
 	_comms_errors(perf_alloc(PC_COUNT, "hmc5883_comms_errors")),
 	_buffer_overflows(perf_alloc(PC_COUNT, "hmc5883_buffer_overflows")),
@@ -1228,7 +1228,7 @@ HMC5883::print_info()
 	printf("offsets (%.2f %.2f %.2f)\n", (double)_scale.x_offset, (double)_scale.y_offset, (double)_scale.z_offset);
 	printf("scaling (%.2f %.2f %.2f) 1/range_scale %.2f range_ga %.2f\n", 
 	       (double)_scale.x_scale, (double)_scale.y_scale, (double)_scale.z_scale,
-	       (double)1.0/_range_scale, (double)_range_ga);
+	       (double)(1.0f/_range_scale), (double)_range_ga);
 	_reports->print_info("report queue");
 }
 
diff --git a/src/drivers/mkblctrl/mkblctrl.cpp b/src/drivers/mkblctrl/mkblctrl.cpp
index 5954c40da..3996b76a6 100644
--- a/src/drivers/mkblctrl/mkblctrl.cpp
+++ b/src/drivers/mkblctrl/mkblctrl.cpp
@@ -131,8 +131,8 @@ public:
 	int		set_motor_count(unsigned count);
 	int		set_motor_test(bool motortest);
 	int		set_overrideSecurityChecks(bool overrideSecurityChecks);
-	int		set_px4mode(int px4mode);
-	int		set_frametype(int frametype);
+	void		set_px4mode(int px4mode);
+	void		set_frametype(int frametype);
 	unsigned int		mk_check_for_blctrl(unsigned int count, bool showOutput, bool initI2C);
 
 private:
@@ -222,15 +222,15 @@ MK::MK(int bus, const char *_device_path) :
 	_task(-1),
 	_t_actuators(-1),
 	_t_actuator_armed(-1),
+	_motor(-1),
+	_px4mode(MAPPING_MK),
+	_frametype(FRAME_PLUS),
 	_t_outputs(0),
 	_t_esc_status(0),
 	_num_outputs(0),
+	_primary_pwm_device(false),
 	_motortest(false),
 	_overrideSecurityChecks(false),
-	_motor(-1),
-	_px4mode(MAPPING_MK),
-	_frametype(FRAME_PLUS),
-	_primary_pwm_device(false),
 	_task_should_exit(false),
 	_armed(false),
 	_mixers(nullptr)
@@ -330,13 +330,13 @@ MK::set_update_rate(unsigned rate)
 	return OK;
 }
 
-int
+void
 MK::set_px4mode(int px4mode)
 {
 	_px4mode = px4mode;
 }
 
-int
+void
 MK::set_frametype(int frametype)
 {
 	_frametype = frametype;
@@ -440,9 +440,6 @@ MK::scaling(float val, float inMin, float inMax, float outMin, float outMax)
 void
 MK::task_main()
 {
-	long update_rate_in_us = 0;
-	float tmpVal = 0;
-
 	/*
 	 * Subscribe to the appropriate PWM output topic based on whether we are the
 	 * primary PWM output or not.
@@ -483,7 +480,6 @@ MK::task_main()
 		/* handle update rate changes */
 		if (_current_update_rate != _update_rate) {
 			int update_rate_in_ms = int(1000 / _update_rate);
-			update_rate_in_us = long(1000000 / _update_rate);
 
 			/* reject faster than 500 Hz updates */
 			if (update_rate_in_ms < 2) {
@@ -735,7 +731,6 @@ MK::mk_servo_set(unsigned int chan, short val)
 	_retries = 0;
 	uint8_t result[3] = { 0, 0, 0 };
 	uint8_t msg[2] = { 0, 0 };
-	uint8_t rod = 0;
 	uint8_t bytesToSendBL2 = 2;
 
 	tmpVal = val;
@@ -824,7 +819,7 @@ MK::mk_servo_set(unsigned int chan, short val)
 		if (debugCounter == 2000) {
 			debugCounter = 0;
 
-			for (int i = 0; i < _num_outputs; i++) {
+			for (unsigned int i = 0; i < _num_outputs; i++) {
 				if (Motor[i].State & MOTOR_STATE_PRESENT_MASK) {
 					fprintf(stderr, "[mkblctrl] #%i:\tVer: %i\tVal: %i\tCurr: %i\tMaxPWM: %i\tTemp: %i\tState: %i\n", i, Motor[i].Version, Motor[i].SetPoint, Motor[i].Current, Motor[i].MaxPWM, Motor[i].Temperature, Motor[i].State);
 				}
@@ -1169,7 +1164,7 @@ mk_new_mode(int update_rate, int motorcount, bool motortest, int px4mode, int fr
 }
 
 int
-mk_start(unsigned motors, char *device_path)
+mk_start(unsigned motors, const char *device_path)
 {
 	int ret;
 
@@ -1228,7 +1223,7 @@ mkblctrl_main(int argc, char *argv[])
 	bool overrideSecurityChecks = false;
 	bool showHelp = false;
 	bool newMode = false;
-	char *devicepath = "";
+	const char *devicepath = "";
 
 	/*
 	 * optional parameters
diff --git a/src/drivers/mpu6000/mpu6000.cpp b/src/drivers/mpu6000/mpu6000.cpp
index 321fdd173..0edec3d0e 100644
--- a/src/drivers/mpu6000/mpu6000.cpp
+++ b/src/drivers/mpu6000/mpu6000.cpp
@@ -544,7 +544,7 @@ void MPU6000::reset()
 	write_reg(MPUREG_USER_CTRL, BIT_I2C_IF_DIS);
         irqrestore(state);
 
-	up_udelay(1000);
+	usleep(1000);
 
 	// SAMPLE RATE
 	_set_sample_rate(_sample_rate);
diff --git a/src/drivers/px4fmu/fmu.cpp b/src/drivers/px4fmu/fmu.cpp
index 8a4bfa18c..0a4635728 100644
--- a/src/drivers/px4fmu/fmu.cpp
+++ b/src/drivers/px4fmu/fmu.cpp
@@ -240,8 +240,6 @@ PX4FMU::PX4FMU() :
 	_pwm_alt_rate_channels(0),
 	_current_update_rate(0),
 	_task(-1),
-	_control_subs({-1}),
-	_poll_fds_num(0),
 	_armed_sub(-1),
 	_outputs_pub(-1),
 	_num_outputs(0),
@@ -252,10 +250,12 @@ PX4FMU::PX4FMU() :
 	_mixers(nullptr),
 	_groups_required(0),
 	_groups_subscribed(0),
-	_failsafe_pwm({0}),
-	      _disarmed_pwm({0}),
-	      _num_failsafe_set(0),
-	      _num_disarmed_set(0)
+	_control_subs{-1},
+	_poll_fds_num(0),
+	_failsafe_pwm{0},
+	_disarmed_pwm{0},
+	_num_failsafe_set(0),
+	_num_disarmed_set(0)
 {
 	for (unsigned i = 0; i < _max_actuators; i++) {
 		_min_pwm[i] = PWM_DEFAULT_MIN;
@@ -741,7 +741,7 @@ PX4FMU::task_main()
 	}
 
 	for (unsigned i = 0; i < NUM_ACTUATOR_CONTROL_GROUPS; i++) {
-		if (_control_subs > 0) {
+		if (_control_subs[i] > 0) {
 			::close(_control_subs[i]);
 			_control_subs[i] = -1;
 		}
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
index 972f45148..24da4c68b 100644
--- a/src/drivers/px4io/px4io.cpp
+++ b/src/drivers/px4io/px4io.cpp
@@ -72,6 +72,7 @@
 #include <systemlib/systemlib.h>
 #include <systemlib/scheduling_priorities.h>
 #include <systemlib/param/param.h>
+#include <systemlib/circuit_breaker.h>
 
 #include <uORB/topics/actuator_controls.h>
 #include <uORB/topics/actuator_outputs.h>
@@ -197,8 +198,10 @@ public:
 	 * Print IO status.
 	 *
 	 * Print all relevant IO status information
+	 *
+	 * @param extended_status Shows more verbose information (in particular RC config)
 	 */
-	void			print_status();
+	void			print_status(bool extended_status);
 
 	/**
 	 * Fetch and print debug console output.
@@ -1010,6 +1013,19 @@ PX4IO::task_main()
 					}
 				}
 
+				int32_t safety_param_val;
+				param_t safety_param = param_find("RC_FAILS_THR");
+
+				if (safety_param != PARAM_INVALID) {
+
+					param_get(safety_param, &safety_param_val);
+
+					if (safety_param_val == PX4IO_FORCE_SAFETY_MAGIC) {
+						/* disable IO safety if circuit breaker asked for it */
+						(void)io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FORCE_SAFETY_OFF, safety_param_val);
+					}
+				}
+
 			}
 
 		}
@@ -1850,7 +1866,7 @@ PX4IO::mixer_send(const char *buf, unsigned buflen, unsigned retries)
 }
 
 void
-PX4IO::print_status()
+PX4IO::print_status(bool extended_status)
 {
 	/* basic configuration */
 	printf("protocol %u hardware %u bootloader %u buffer %uB crc 0x%04x%04x\n",
@@ -2013,19 +2029,21 @@ PX4IO::print_status()
 		printf("\n");
 	}
 
-	for (unsigned i = 0; i < _max_rc_input; i++) {
-		unsigned base = PX4IO_P_RC_CONFIG_STRIDE * i;
-		uint16_t options = io_reg_get(PX4IO_PAGE_RC_CONFIG, base + PX4IO_P_RC_CONFIG_OPTIONS);
-		printf("input %u min %u center %u max %u deadzone %u assigned %u options 0x%04x%s%s\n",
-		       i,
-		       io_reg_get(PX4IO_PAGE_RC_CONFIG, base + PX4IO_P_RC_CONFIG_MIN),
-		       io_reg_get(PX4IO_PAGE_RC_CONFIG, base + PX4IO_P_RC_CONFIG_CENTER),
-		       io_reg_get(PX4IO_PAGE_RC_CONFIG, base + PX4IO_P_RC_CONFIG_MAX),
-		       io_reg_get(PX4IO_PAGE_RC_CONFIG, base + PX4IO_P_RC_CONFIG_DEADZONE),
-		       io_reg_get(PX4IO_PAGE_RC_CONFIG, base + PX4IO_P_RC_CONFIG_ASSIGNMENT),
-		       options,
-		       ((options & PX4IO_P_RC_CONFIG_OPTIONS_ENABLED) ? " ENABLED" : ""),
-		       ((options & PX4IO_P_RC_CONFIG_OPTIONS_REVERSE) ? " REVERSED" : ""));
+	if (extended_status) {
+		for (unsigned i = 0; i < _max_rc_input; i++) {
+			unsigned base = PX4IO_P_RC_CONFIG_STRIDE * i;
+			uint16_t options = io_reg_get(PX4IO_PAGE_RC_CONFIG, base + PX4IO_P_RC_CONFIG_OPTIONS);
+			printf("input %u min %u center %u max %u deadzone %u assigned %u options 0x%04x%s%s\n",
+			       i,
+			       io_reg_get(PX4IO_PAGE_RC_CONFIG, base + PX4IO_P_RC_CONFIG_MIN),
+			       io_reg_get(PX4IO_PAGE_RC_CONFIG, base + PX4IO_P_RC_CONFIG_CENTER),
+			       io_reg_get(PX4IO_PAGE_RC_CONFIG, base + PX4IO_P_RC_CONFIG_MAX),
+			       io_reg_get(PX4IO_PAGE_RC_CONFIG, base + PX4IO_P_RC_CONFIG_DEADZONE),
+			       io_reg_get(PX4IO_PAGE_RC_CONFIG, base + PX4IO_P_RC_CONFIG_ASSIGNMENT),
+			       options,
+			       ((options & PX4IO_P_RC_CONFIG_OPTIONS_ENABLED) ? " ENABLED" : ""),
+			       ((options & PX4IO_P_RC_CONFIG_OPTIONS_REVERSE) ? " REVERSED" : ""));
+		}
 	}
 
 	printf("failsafe");
@@ -2853,7 +2871,7 @@ monitor(void)
 		if (g_dev != nullptr) {
 
 			printf("\033[2J\033[H"); /* move cursor home and clear screen */
-			(void)g_dev->print_status();
+			(void)g_dev->print_status(false);
 			(void)g_dev->print_debug();
 			printf("\n\n\n[ Use 'px4io debug <N>' for more output. Hit <enter> three times to exit monitor mode ]\n");
 
@@ -3119,7 +3137,7 @@ px4io_main(int argc, char *argv[])
 	if (!strcmp(argv[1], "status")) {
 
 		printf("[px4io] loaded\n");
-		g_dev->print_status();
+		g_dev->print_status(true);
 
 		exit(0);
 	}
diff --git a/src/drivers/px4io/px4io_serial.cpp b/src/drivers/px4io/px4io_serial.cpp
index 3b210ac59..c39494fb0 100644
--- a/src/drivers/px4io/px4io_serial.cpp
+++ b/src/drivers/px4io/px4io_serial.cpp
@@ -639,7 +639,7 @@ PX4IO_serial::_do_interrupt()
 		if (_rx_dma_status == _dma_status_waiting) {
 
 			/* verify that the received packet is complete */
-			int length = sizeof(_dma_buffer) - stm32_dmaresidual(_rx_dma);
+			size_t length = sizeof(_dma_buffer) - stm32_dmaresidual(_rx_dma);
 			if ((length < 1) || (length < PKT_SIZE(_dma_buffer))) {
 				perf_count(_pc_badidle);
 
diff --git a/src/drivers/px4io/px4io_uploader.cpp b/src/drivers/px4io/px4io_uploader.cpp
index 28ec62356..7b6361a7c 100644
--- a/src/drivers/px4io/px4io_uploader.cpp
+++ b/src/drivers/px4io/px4io_uploader.cpp
@@ -240,9 +240,9 @@ PX4IO_Uploader::upload(const char *filenames[])
 	close(_io_fd);
 	_io_fd = -1;
 
-        // sleep for enough time for the IO chip to boot. This makes
-        // forceupdate more reliably startup IO again after update
-        up_udelay(100*1000);
+	// sleep for enough time for the IO chip to boot. This makes
+	// forceupdate more reliably startup IO again after update
+	up_udelay(100*1000);
 
 	return ret;
 }
diff --git a/src/drivers/roboclaw/RoboClaw.cpp b/src/drivers/roboclaw/RoboClaw.cpp
index dd5e4d3e0..fdaa7f27b 100644
--- a/src/drivers/roboclaw/RoboClaw.cpp
+++ b/src/drivers/roboclaw/RoboClaw.cpp
@@ -182,7 +182,10 @@ float RoboClaw::getMotorPosition(e_motor motor)
 		return _motor1Position;
 	} else if (motor == MOTOR_2) {
 		return _motor2Position;
-	}
+	} else {
+		warnx("Unknown motor value passed to RoboClaw::getMotorPosition");
+		return NAN;
+    }
 }
 
 float RoboClaw::getMotorSpeed(e_motor motor)
@@ -191,7 +194,10 @@ float RoboClaw::getMotorSpeed(e_motor motor)
 		return _motor1Speed;
 	} else if (motor == MOTOR_2) {
 		return _motor2Speed;
-	}
+	} else {
+		warnx("Unknown motor value passed to RoboClaw::getMotorPosition");
+		return NAN;
+    }
 }
 
 int RoboClaw::setMotorSpeed(e_motor motor, float value)
diff --git a/src/drivers/sf0x/sf0x.cpp b/src/drivers/sf0x/sf0x.cpp
index 9109af14f..bca1715fa 100644
--- a/src/drivers/sf0x/sf0x.cpp
+++ b/src/drivers/sf0x/sf0x.cpp
@@ -616,7 +616,7 @@ SF0X::collect()
 		}
 	}
 
-	debug("val (float): %8.4f, raw: %s, valid: %s\n", si_units, _linebuf, ((valid) ? "OK" : "NO"));
+	debug("val (float): %8.4f, raw: %s, valid: %s\n", (double)si_units, _linebuf, ((valid) ? "OK" : "NO"));
 
 	/* done with this chunk, resetting - even if invalid */
 	_linebuf_index = 0;