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author | Julian Oes <julian@oes.ch> | 2013-11-26 16:43:51 +0100 |
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committer | Julian Oes <julian@oes.ch> | 2013-11-26 16:43:51 +0100 |
commit | 9c1a5be8e16d18612c8e318355fef15e53961da7 (patch) | |
tree | 3c54f61557bed5c4baafdfa49dfc0f3fcf374062 /src/modules/navigator/navigator_main.cpp | |
parent | 972ca7db8a17feb7735700dbdd61e6f6a0dec4b6 (diff) | |
download | px4-firmware-9c1a5be8e16d18612c8e318355fef15e53961da7.tar.gz px4-firmware-9c1a5be8e16d18612c8e318355fef15e53961da7.tar.bz2 px4-firmware-9c1a5be8e16d18612c8e318355fef15e53961da7.zip |
Navigator: Gotten rid of some warnings
Diffstat (limited to 'src/modules/navigator/navigator_main.cpp')
-rw-r--r-- | src/modules/navigator/navigator_main.cpp | 38 |
1 files changed, 19 insertions, 19 deletions
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index b85c4bef9..2e8844801 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -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); |