Merge branch 'master' into navigator_rewrite_drton

8 files changed, 46 insertions, 12 deletions

diff --git a/src/systemcmds/mtd/24xxxx_mtd.c b/src/systemcmds/mtd/24xxxx_mtd.c
index a3f9dffff..72200f418 100644
--- a/src/systemcmds/mtd/24xxxx_mtd.c
+++ b/src/systemcmds/mtd/24xxxx_mtd.c
@@ -237,8 +237,10 @@ void at24c_test(void)
 		} else if (result != 1) {
 			vdbg("unexpected %u\n", result);
 		}
-		if ((count % 100) == 0)
+
+		if ((count % 100) == 0) {
 			vdbg("test %u errors %u\n", count, errors);
+		}
 	}
 }
 
diff --git a/src/systemcmds/nshterm/nshterm.c b/src/systemcmds/nshterm/nshterm.c
index 7d9484d3e..fca1798e6 100644
--- a/src/systemcmds/nshterm/nshterm.c
+++ b/src/systemcmds/nshterm/nshterm.c
@@ -60,7 +60,7 @@ nshterm_main(int argc, char *argv[])
         printf("Usage: nshterm <device>\n");
         exit(1);
     }
-    uint8_t retries = 0;
+    unsigned retries = 0;
     int fd = -1;
 
     /* try the first 30 seconds */
diff --git a/src/systemcmds/param/param.c b/src/systemcmds/param/param.c
index 328205e29..f8bff2f6f 100644
--- a/src/systemcmds/param/param.c
+++ b/src/systemcmds/param/param.c
@@ -64,6 +64,7 @@ static void	do_show_print(void *arg, param_t param);
 static void	do_set(const char* name, const char* val, bool fail_on_not_found);
 static void	do_compare(const char* name, const char* vals[], unsigned comparisons);
 static void	do_reset(void);
+static void	do_reset_nostart(void);
 
 int
 param_main(int argc, char *argv[])
@@ -142,6 +143,10 @@ param_main(int argc, char *argv[])
 		if (!strcmp(argv[1], "reset")) {
 			do_reset();
 		}
+
+		if (!strcmp(argv[1], "reset_nostart")) {
+			do_reset_nostart();
+		}
 	}
 	
 	errx(1, "expected a command, try 'load', 'import', 'show', 'set', 'compare', 'select' or 'save'");
@@ -427,3 +432,26 @@ do_reset(void)
 		exit(0);
 	}
 }
+
+static void
+do_reset_nostart(void)
+{
+
+	int32_t autostart;
+	int32_t autoconfig;
+
+	(void)param_get(param_find("SYS_AUTOSTART"), &autostart);
+	(void)param_get(param_find("SYS_AUTOCONFIG"), &autoconfig);
+
+	param_reset_all();
+
+	(void)param_set(param_find("SYS_AUTOSTART"), &autostart);
+	(void)param_set(param_find("SYS_AUTOCONFIG"), &autoconfig);
+
+	if (param_save_default()) {
+		warnx("Param export failed.");
+		exit(1);
+	} else {
+		exit(0);
+	}
+}
diff --git a/src/systemcmds/pwm/pwm.c b/src/systemcmds/pwm/pwm.c
index 1828c660f..e0e6ca537 100644
--- a/src/systemcmds/pwm/pwm.c
+++ b/src/systemcmds/pwm/pwm.c
@@ -515,7 +515,8 @@ pwm_main(int argc, char *argv[])
 				ret = poll(&fds, 1, 0);
 				if (ret > 0) {
 
-				int ret = read(0, &c, 1);
+					ret = read(0, &c, 1);
+
 					if (ret > 0) {
 						/* reset output to the last value */
 						for (unsigned i = 0; i < servo_count; i++) {
diff --git a/src/systemcmds/tests/test_conv.cpp b/src/systemcmds/tests/test_conv.cpp
index 0ecdc8eb9..fda949c61 100644
--- a/src/systemcmds/tests/test_conv.cpp
+++ b/src/systemcmds/tests/test_conv.cpp
@@ -65,7 +65,7 @@ int test_conv(int argc, char *argv[])
 		float f = i/10000.0f;
 		float fres = REG_TO_FLOAT(FLOAT_TO_REG(f));
 		if (fabsf(f - fres) > 0.0001f) {
-			warnx("conversion fail: input: %8.4f, intermediate: %d, result: %8.4f", f, REG_TO_SIGNED(FLOAT_TO_REG(f)), (double)fres);
+			warnx("conversion fail: input: %8.4f, intermediate: %d, result: %8.4f", (double)f, REG_TO_SIGNED(FLOAT_TO_REG(f)), (double)fres);
 			return 1;
 		}
 	}
diff --git a/src/systemcmds/tests/test_file.c b/src/systemcmds/tests/test_file.c
index 86f23b485..570583dee 100644
--- a/src/systemcmds/tests/test_file.c
+++ b/src/systemcmds/tests/test_file.c
@@ -149,6 +149,8 @@ test_file(int argc, char *argv[])
 			}
 			end = hrt_absolute_time();
 
+			warnx("write took %llu us", (end - start));
+
 			close(fd);
 			fd = open("/fs/microsd/testfile", O_RDONLY);
 
@@ -192,7 +194,6 @@ test_file(int argc, char *argv[])
 
 			warnx("testing aligned writes - please wait.. (CTRL^C to abort)");
 
-			start = hrt_absolute_time();
 			for (unsigned i = 0; i < iterations; i++) {
 				int wret = write(fd, write_buf, chunk_sizes[c]);
 
diff --git a/src/systemcmds/tests/test_float.c b/src/systemcmds/tests/test_float.c
index e33cc6ef7..bb8b6c7f5 100644
--- a/src/systemcmds/tests/test_float.c
+++ b/src/systemcmds/tests/test_float.c
@@ -68,7 +68,7 @@ int test_float(int argc, char *argv[])
 	float sinf_one = sinf(1.0f);
 	float sqrt_two = sqrt(2.0f);
 
-	if (sinf_zero == 0.0f) {
+	if (fabsf(sinf_zero) < FLT_EPSILON) {
 		printf("\t success: sinf(0.0f) == 0.0f\n");
 
 	} else {
@@ -136,7 +136,7 @@ int test_float(int argc, char *argv[])
 		ret = -2;
 	}
 
-	if (sqrt_two == 1.41421356f) {
+	if (fabsf(sqrt_two - 1.41421356f) < FLT_EPSILON) {
 		printf("\t success: sqrt(2.0f) == 1.41421f\n");
 
 	} else {
@@ -188,7 +188,7 @@ int test_float(int argc, char *argv[])
 
 	double d1d2 = d1 * d2;
 
-	if (d1d2 == 2.022200000000000219557705349871) {
+	if (fabs(d1d2 - 2.022200000000000219557705349871) < DBL_EPSILON) {
 		printf("\t success: 1.0111 * 2.0 == 2.0222\n");
 
 	} else {
@@ -201,7 +201,7 @@ int test_float(int argc, char *argv[])
 	// Assign value of f1 to d1
 	d1 = f1;
 
-	if (f1 == (float)d1) {
+	if (fabsf(f1 - (float)d1) < FLT_EPSILON) {
 		printf("\t success: (float) 1.55f == 1.55 (double)\n");
 
 	} else {
@@ -216,7 +216,7 @@ int test_float(int argc, char *argv[])
 	double sin_one = sin(1.0);
 	double atan2_ones = atan2(1.0, 1.0);
 
-	if (sin_zero == 0.0) {
+	if (fabs(sin_zero - 0.0) < DBL_EPSILON) {
 		printf("\t success: sin(0.0) == 0.0\n");
 
 	} else {
@@ -224,7 +224,7 @@ int test_float(int argc, char *argv[])
 		ret = -9;
 	}
 
-	if (sin_one == 0.841470984807896504875657228695) {
+	if (fabs(sin_one - 0.841470984807896504875657228695) < DBL_EPSILON) {
 		printf("\t success: sin(1.0) == 0.84147098480\n");
 
 	} else {
@@ -232,7 +232,7 @@ int test_float(int argc, char *argv[])
 		ret = -10;
 	}
 
-	if (atan2_ones != 0.785398) {
+	if (fabs(atan2_ones - 0.785398) < DBL_EPSILON) {
 		printf("\t success: atan2(1.0, 1.0) == 0.785398\n");
 
 	} else {
diff --git a/src/systemcmds/tests/test_mtd.c b/src/systemcmds/tests/test_mtd.c
index cdb4362ba..43231ccad 100644
--- a/src/systemcmds/tests/test_mtd.c
+++ b/src/systemcmds/tests/test_mtd.c
@@ -171,6 +171,8 @@ test_mtd(int argc, char *argv[])
 		}
 		end = hrt_absolute_time();
 
+		warnx("write took %llu us", (end - start));
+
 		close(fd);
 		fd = open(PARAM_FILE_NAME, O_RDONLY);