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author | Julian Oes <julian@oes.ch> | 2014-02-16 13:24:02 +0100 |
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committer | Julian Oes <julian@oes.ch> | 2014-02-16 13:24:02 +0100 |
commit | b596bf6aa56b2039b51a03ab11acf2d7d719195d (patch) | |
tree | 39046abcf38b91789c03000a946b3aa07a9aa231 /src/modules/mavlink/mavlink_receiver.cpp | |
parent | 875ba3bb2babc3787c068a9d2d7917b62bd3cce5 (diff) | |
download | px4-firmware-b596bf6aa56b2039b51a03ab11acf2d7d719195d.tar.gz px4-firmware-b596bf6aa56b2039b51a03ab11acf2d7d719195d.tar.bz2 px4-firmware-b596bf6aa56b2039b51a03ab11acf2d7d719195d.zip |
Mavlink: gotten rid of some warnings
Diffstat (limited to 'src/modules/mavlink/mavlink_receiver.cpp')
-rw-r--r-- | src/modules/mavlink/mavlink_receiver.cpp | 13 |
1 files changed, 5 insertions, 8 deletions
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp index 371f945c4..d07de0f22 100644 --- a/src/modules/mavlink/mavlink_receiver.cpp +++ b/src/modules/mavlink/mavlink_receiver.cpp @@ -106,7 +106,7 @@ MavlinkReceiver::MavlinkReceiver(Mavlink *parent) : telemetry_status_pub(-1), lat0(0), lon0(0), - alt0(0) + alt0(0.0) { } @@ -605,8 +605,6 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg) orb_publish(ORB_ID(airspeed), pub_hil_airspeed, &airspeed); } - uint64_t timestamp = hrt_absolute_time(); - // publish global position if (pub_hil_global_pos > 0) { orb_publish(ORB_ID(vehicle_global_position), pub_hil_global_pos, &hil_global_pos); @@ -628,7 +626,7 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg) if (pub_hil_local_pos > 0) { float x; float y; - bool landed = hil_state.alt/1000.0f < (alt0 + 0.1); // XXX improve? + bool landed = (float)(hil_state.alt)/1000.0f < (alt0 + 0.1f); // XXX improve? double lat = hil_state.lat*1e-7; double lon = hil_state.lon*1e-7; map_projection_project(lat, lon, &x, &y); @@ -811,14 +809,13 @@ MavlinkReceiver::receive_thread(void *arg) while (!_mavlink->_task_should_exit) { if (poll(fds, 1, timeout) > 0) { - if (nread < sizeof(buf)) { + + /* non-blocking read. read may return negative values */ + if ((nread = read(uart_fd, buf, sizeof(buf))) < (ssize_t)sizeof(buf)) { /* to avoid reading very small chunks wait for data before reading */ usleep(1000); } - /* non-blocking read. read may return negative values */ - nread = read(uart_fd, buf, sizeof(buf)); - /* if read failed, this loop won't execute */ for (ssize_t i = 0; i < nread; i++) { if (mavlink_parse_char(_mavlink->get_chan(), buf[i], &msg, &status)) { |