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-rw-r--r--src/drivers/blinkm/blinkm.cpp5
-rw-r--r--src/drivers/gps/gps.cpp6
-rw-r--r--src/drivers/gps/mtk.cpp8
-rw-r--r--src/drivers/gps/ubx.cpp4
-rw-r--r--src/drivers/mkblctrl/mkblctrl.cpp8
-rw-r--r--src/drivers/mpu6000/mpu6000.cpp2
-rw-r--r--src/drivers/px4fmu/fmu.cpp2
-rw-r--r--src/drivers/roboclaw/RoboClaw.cpp10
8 files changed, 26 insertions, 19 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/gps/gps.cpp b/src/drivers/gps/gps.cpp
index 5342ccf78..8560716e9 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;
@@ -451,7 +451,7 @@ GPS::print_info()
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);
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);
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/mkblctrl/mkblctrl.cpp b/src/drivers/mkblctrl/mkblctrl.cpp
index 5954c40da..1c81910f6 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:
@@ -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;
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..84ea9a3bc 100644
--- a/src/drivers/px4fmu/fmu.cpp
+++ b/src/drivers/px4fmu/fmu.cpp
@@ -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/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)
generated by cgit v1.2.3 (git 2.39.1) at 2024-07-16 21:04:46 +0000