Merge pull request #1093 from DonLakeFlyer/WarningsBugs

Fix bugs found through compiler warnings

4 files changed, 5 insertions, 7 deletions

diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index 1535967b1..aa243d79b 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -603,6 +603,7 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe
 		// XXX TODO
 	}
 
+	return true;
 }
 
 int commander_thread_main(int argc, char *argv[])
diff --git a/src/modules/ekf_att_pos_estimator/estimator.cpp b/src/modules/ekf_att_pos_estimator/estimator.cpp
index 1320b4668..f8b9e9fbd 100644
--- a/src/modules/ekf_att_pos_estimator/estimator.cpp
+++ b/src/modules/ekf_att_pos_estimator/estimator.cpp
@@ -1986,7 +1986,7 @@ void AttPosEKF::calcposNED(float (&posNED)[3], double lat, double lon, float hgt
     posNED[2] = -(hgt - hgtRef);
 }
 
-void AttPosEKF::calcLLH(float (&posNED)[3], float lat, float lon, float hgt, float latRef, float lonRef, float hgtRef)
+void AttPosEKF::calcLLH(float posNED[3], float &lat, float &lon, float &hgt, float latRef, float lonRef, float hgtRef)
 {
     lat = latRef + posNED[0] * earthRadiusInv;
     lon = lonRef + posNED[1] * earthRadiusInv / cos(latRef);
diff --git a/src/modules/ekf_att_pos_estimator/estimator.h b/src/modules/ekf_att_pos_estimator/estimator.h
index e821089f2..69d8cfce8 100644
--- a/src/modules/ekf_att_pos_estimator/estimator.h
+++ b/src/modules/ekf_att_pos_estimator/estimator.h
@@ -301,7 +301,7 @@ static void calcvelNED(float (&velNED)[3], float gpsCourse, float gpsGndSpd, flo
 
 static void calcposNED(float (&posNED)[3], double lat, double lon, float hgt, double latRef, double lonRef, float hgtRef);
 
-static void calcLLH(float (&posNED)[3], float lat, float lon, float hgt, float latRef, float lonRef, float hgtRef);
+static void calcLLH(float posNED[3], float &lat, float &lon, float &hgt, float latRef, float lonRef, float hgtRef);
 
 static void quat2Tnb(Mat3f &Tnb, const float (&quat)[4]);
 
diff --git a/src/modules/gpio_led/gpio_led.c b/src/modules/gpio_led/gpio_led.c
index 839a7890b..7758faed7 100644
--- a/src/modules/gpio_led/gpio_led.c
+++ b/src/modules/gpio_led/gpio_led.c
@@ -181,16 +181,13 @@ int gpio_led_main(int argc, char *argv[])
 			} else {
 				gpio_led_started = true;
 				warnx("start, using pin: %s", pin_name);
+				exit(0);
 			}
-
-			exit(0);
-
-
 		} else if (!strcmp(argv[1], "stop")) {
 			if (gpio_led_started) {
 				gpio_led_started = false;
 				warnx("stop");
-
+				exit(0);
 			} else {
 				errx(1, "not running");
 			}