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-rw-r--r--src/drivers/boards/px4fmu-v1/px4fmu_init.c2
-rw-r--r--src/drivers/boards/px4fmu-v1/px4fmu_led.c4
-rw-r--r--src/drivers/boards/px4fmu-v2/px4fmu2_led.c2
-rw-r--r--src/drivers/ets_airspeed/ets_airspeed.cpp4
-rw-r--r--src/drivers/hmc5883/hmc5883.cpp4
-rw-r--r--src/drivers/mkblctrl/mkblctrl.cpp19
-rw-r--r--src/drivers/px4fmu/fmu.cpp12
-rw-r--r--src/drivers/px4io/px4io.cpp14
-rw-r--r--src/drivers/px4io/px4io_serial.cpp2
-rw-r--r--src/drivers/sf0x/sf0x.cpp2
10 files changed, 37 insertions, 28 deletions
diff --git a/src/drivers/boards/px4fmu-v1/px4fmu_init.c b/src/drivers/boards/px4fmu-v1/px4fmu_init.c
index 4b12b75f9..293021f8b 100644
--- a/src/drivers/boards/px4fmu-v1/px4fmu_init.c
+++ b/src/drivers/boards/px4fmu-v1/px4fmu_init.c
@@ -99,7 +99,7 @@
* CONFIG_ARCH_LEDS configuration switch.
*/
__BEGIN_DECLS
-extern void led_init();
+extern void led_init(void);
extern void led_on(int led);
extern void led_off(int led);
__END_DECLS
diff --git a/src/drivers/boards/px4fmu-v1/px4fmu_led.c b/src/drivers/boards/px4fmu-v1/px4fmu_led.c
index ea91f34ad..ee53fc43d 100644
--- a/src/drivers/boards/px4fmu-v1/px4fmu_led.c
+++ b/src/drivers/boards/px4fmu-v1/px4fmu_led.c
@@ -54,13 +54,13 @@
* CONFIG_ARCH_LEDS configuration switch.
*/
__BEGIN_DECLS
-extern void led_init();
+extern void led_init(void);
extern void led_on(int led);
extern void led_off(int led);
extern void led_toggle(int led);
__END_DECLS
-__EXPORT void led_init()
+__EXPORT void led_init(void)
{
/* Configure LED1-2 GPIOs for output */
diff --git a/src/drivers/boards/px4fmu-v2/px4fmu2_led.c b/src/drivers/boards/px4fmu-v2/px4fmu2_led.c
index a856ccb02..3c05bfa46 100644
--- a/src/drivers/boards/px4fmu-v2/px4fmu2_led.c
+++ b/src/drivers/boards/px4fmu-v2/px4fmu2_led.c
@@ -54,7 +54,7 @@
* CONFIG_ARCH_LEDS configuration switch.
*/
__BEGIN_DECLS
-extern void led_init();
+extern void led_init(void);
extern void led_on(int led);
extern void led_off(int led);
extern void led_toggle(int led);
diff --git a/src/drivers/ets_airspeed/ets_airspeed.cpp b/src/drivers/ets_airspeed/ets_airspeed.cpp
index 2de7063ea..1a7e068fe 100644
--- a/src/drivers/ets_airspeed/ets_airspeed.cpp
+++ b/src/drivers/ets_airspeed/ets_airspeed.cpp
@@ -364,7 +364,7 @@ test()
err(1, "immediate read failed");
warnx("single read");
- warnx("diff pressure: %d pa", report.differential_pressure_pa);
+ warnx("diff pressure: %f pa", (double)report.differential_pressure_pa);
/* start the sensor polling at 2Hz */
if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2))
@@ -389,7 +389,7 @@ test()
err(1, "periodic read failed");
warnx("periodic read %u", i);
- warnx("diff pressure: %d pa", report.differential_pressure_pa);
+ warnx("diff pressure: %f pa", (double)report.differential_pressure_pa);
}
/* reset the sensor polling to its default rate */
diff --git a/src/drivers/hmc5883/hmc5883.cpp b/src/drivers/hmc5883/hmc5883.cpp
index fddba806e..b7b368a5e 100644
--- a/src/drivers/hmc5883/hmc5883.cpp
+++ b/src/drivers/hmc5883/hmc5883.cpp
@@ -326,9 +326,9 @@ HMC5883::HMC5883(int bus) :
_range_scale(0), /* default range scale from counts to gauss */
_range_ga(1.3f),
_collect_phase(false),
+ _class_instance(-1),
_mag_topic(-1),
_subsystem_pub(-1),
- _class_instance(-1),
_sample_perf(perf_alloc(PC_ELAPSED, "hmc5883_read")),
_comms_errors(perf_alloc(PC_COUNT, "hmc5883_comms_errors")),
_buffer_overflows(perf_alloc(PC_COUNT, "hmc5883_buffer_overflows")),
@@ -1228,7 +1228,7 @@ HMC5883::print_info()
printf("offsets (%.2f %.2f %.2f)\n", (double)_scale.x_offset, (double)_scale.y_offset, (double)_scale.z_offset);
printf("scaling (%.2f %.2f %.2f) 1/range_scale %.2f range_ga %.2f\n",
(double)_scale.x_scale, (double)_scale.y_scale, (double)_scale.z_scale,
- (double)1.0/_range_scale, (double)_range_ga);
+ (double)(1.0f/_range_scale), (double)_range_ga);
_reports->print_info("report queue");
}
diff --git a/src/drivers/mkblctrl/mkblctrl.cpp b/src/drivers/mkblctrl/mkblctrl.cpp
index 1c81910f6..3996b76a6 100644
--- a/src/drivers/mkblctrl/mkblctrl.cpp
+++ b/src/drivers/mkblctrl/mkblctrl.cpp
@@ -222,15 +222,15 @@ MK::MK(int bus, const char *_device_path) :
_task(-1),
_t_actuators(-1),
_t_actuator_armed(-1),
+ _motor(-1),
+ _px4mode(MAPPING_MK),
+ _frametype(FRAME_PLUS),
_t_outputs(0),
_t_esc_status(0),
_num_outputs(0),
+ _primary_pwm_device(false),
_motortest(false),
_overrideSecurityChecks(false),
- _motor(-1),
- _px4mode(MAPPING_MK),
- _frametype(FRAME_PLUS),
- _primary_pwm_device(false),
_task_should_exit(false),
_armed(false),
_mixers(nullptr)
@@ -440,9 +440,6 @@ MK::scaling(float val, float inMin, float inMax, float outMin, float outMax)
void
MK::task_main()
{
- long update_rate_in_us = 0;
- float tmpVal = 0;
-
/*
* Subscribe to the appropriate PWM output topic based on whether we are the
* primary PWM output or not.
@@ -483,7 +480,6 @@ MK::task_main()
/* handle update rate changes */
if (_current_update_rate != _update_rate) {
int update_rate_in_ms = int(1000 / _update_rate);
- update_rate_in_us = long(1000000 / _update_rate);
/* reject faster than 500 Hz updates */
if (update_rate_in_ms < 2) {
@@ -735,7 +731,6 @@ MK::mk_servo_set(unsigned int chan, short val)
_retries = 0;
uint8_t result[3] = { 0, 0, 0 };
uint8_t msg[2] = { 0, 0 };
- uint8_t rod = 0;
uint8_t bytesToSendBL2 = 2;
tmpVal = val;
@@ -824,7 +819,7 @@ MK::mk_servo_set(unsigned int chan, short val)
if (debugCounter == 2000) {
debugCounter = 0;
- for (int i = 0; i < _num_outputs; i++) {
+ for (unsigned int i = 0; i < _num_outputs; i++) {
if (Motor[i].State & MOTOR_STATE_PRESENT_MASK) {
fprintf(stderr, "[mkblctrl] #%i:\tVer: %i\tVal: %i\tCurr: %i\tMaxPWM: %i\tTemp: %i\tState: %i\n", i, Motor[i].Version, Motor[i].SetPoint, Motor[i].Current, Motor[i].MaxPWM, Motor[i].Temperature, Motor[i].State);
}
@@ -1169,7 +1164,7 @@ mk_new_mode(int update_rate, int motorcount, bool motortest, int px4mode, int fr
}
int
-mk_start(unsigned motors, char *device_path)
+mk_start(unsigned motors, const char *device_path)
{
int ret;
@@ -1228,7 +1223,7 @@ mkblctrl_main(int argc, char *argv[])
bool overrideSecurityChecks = false;
bool showHelp = false;
bool newMode = false;
- char *devicepath = "";
+ const char *devicepath = "";
/*
* optional parameters
diff --git a/src/drivers/px4fmu/fmu.cpp b/src/drivers/px4fmu/fmu.cpp
index 84ea9a3bc..0a4635728 100644
--- a/src/drivers/px4fmu/fmu.cpp
+++ b/src/drivers/px4fmu/fmu.cpp
@@ -240,8 +240,6 @@ PX4FMU::PX4FMU() :
_pwm_alt_rate_channels(0),
_current_update_rate(0),
_task(-1),
- _control_subs({-1}),
- _poll_fds_num(0),
_armed_sub(-1),
_outputs_pub(-1),
_num_outputs(0),
@@ -252,10 +250,12 @@ PX4FMU::PX4FMU() :
_mixers(nullptr),
_groups_required(0),
_groups_subscribed(0),
- _failsafe_pwm({0}),
- _disarmed_pwm({0}),
- _num_failsafe_set(0),
- _num_disarmed_set(0)
+ _control_subs{-1},
+ _poll_fds_num(0),
+ _failsafe_pwm{0},
+ _disarmed_pwm{0},
+ _num_failsafe_set(0),
+ _num_disarmed_set(0)
{
for (unsigned i = 0; i < _max_actuators; i++) {
_min_pwm[i] = PWM_DEFAULT_MIN;
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
index 992ab9623..24da4c68b 100644
--- a/src/drivers/px4io/px4io.cpp
+++ b/src/drivers/px4io/px4io.cpp
@@ -72,6 +72,7 @@
#include <systemlib/systemlib.h>
#include <systemlib/scheduling_priorities.h>
#include <systemlib/param/param.h>
+#include <systemlib/circuit_breaker.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_outputs.h>
@@ -1012,6 +1013,19 @@ PX4IO::task_main()
}
}
+ int32_t safety_param_val;
+ param_t safety_param = param_find("RC_FAILS_THR");
+
+ if (safety_param != PARAM_INVALID) {
+
+ param_get(safety_param, &safety_param_val);
+
+ if (safety_param_val == PX4IO_FORCE_SAFETY_MAGIC) {
+ /* disable IO safety if circuit breaker asked for it */
+ (void)io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FORCE_SAFETY_OFF, safety_param_val);
+ }
+ }
+
}
}
diff --git a/src/drivers/px4io/px4io_serial.cpp b/src/drivers/px4io/px4io_serial.cpp
index 3b210ac59..c39494fb0 100644
--- a/src/drivers/px4io/px4io_serial.cpp
+++ b/src/drivers/px4io/px4io_serial.cpp
@@ -639,7 +639,7 @@ PX4IO_serial::_do_interrupt()
if (_rx_dma_status == _dma_status_waiting) {
/* verify that the received packet is complete */
- int length = sizeof(_dma_buffer) - stm32_dmaresidual(_rx_dma);
+ size_t length = sizeof(_dma_buffer) - stm32_dmaresidual(_rx_dma);
if ((length < 1) || (length < PKT_SIZE(_dma_buffer))) {
perf_count(_pc_badidle);
diff --git a/src/drivers/sf0x/sf0x.cpp b/src/drivers/sf0x/sf0x.cpp
index 9109af14f..bca1715fa 100644
--- a/src/drivers/sf0x/sf0x.cpp
+++ b/src/drivers/sf0x/sf0x.cpp
@@ -616,7 +616,7 @@ SF0X::collect()
}
}
- debug("val (float): %8.4f, raw: %s, valid: %s\n", si_units, _linebuf, ((valid) ? "OK" : "NO"));
+ debug("val (float): %8.4f, raw: %s, valid: %s\n", (double)si_units, _linebuf, ((valid) ? "OK" : "NO"));
/* done with this chunk, resetting - even if invalid */
_linebuf_index = 0;
generated by cgit v1.2.3 (git 2.39.1) at 2024-07-12 10:30:45 +0000