diff options
Diffstat (limited to 'src/modules/commander')
| -rw-r--r-- | src/modules/commander/accelerometer_calibration.cpp | 6 | ||||
| -rw-r--r-- | src/modules/commander/calibration_routines.cpp | 2 | ||||
| -rw-r--r-- | src/modules/commander/commander.cpp | 2 |
3 files changed, 6 insertions, 4 deletions
diff --git a/src/modules/commander/accelerometer_calibration.cpp b/src/modules/commander/accelerometer_calibration.cpp index 7180048ff..24da452b1 100644 --- a/src/modules/commander/accelerometer_calibration.cpp +++ b/src/modules/commander/accelerometer_calibration.cpp @@ -158,6 +158,8 @@ int calculate_calibration_values(float accel_ref[6][3], float accel_T[3][3], flo int do_accel_calibration(int mavlink_fd) { + int fd; + mavlink_log_info(mavlink_fd, CAL_STARTED_MSG, sensor_name); struct accel_scale accel_scale = { @@ -172,7 +174,7 @@ int do_accel_calibration(int mavlink_fd) int res = OK; /* reset all offsets to zero and all scales to one */ - int fd = open(ACCEL_DEVICE_PATH, 0); + fd = open(ACCEL_DEVICE_PATH, 0); res = ioctl(fd, ACCELIOCSSCALE, (long unsigned int)&accel_scale); close(fd); @@ -223,7 +225,7 @@ int do_accel_calibration(int mavlink_fd) if (res == OK) { /* apply new scaling and offsets */ - int fd = open(ACCEL_DEVICE_PATH, 0); + fd = open(ACCEL_DEVICE_PATH, 0); res = ioctl(fd, ACCELIOCSSCALE, (long unsigned int)&accel_scale); close(fd); diff --git a/src/modules/commander/calibration_routines.cpp b/src/modules/commander/calibration_routines.cpp index be38ea104..9d79124e7 100644 --- a/src/modules/commander/calibration_routines.cpp +++ b/src/modules/commander/calibration_routines.cpp @@ -170,7 +170,7 @@ int sphere_fit_least_squares(const float x[], const float y[], const float z[], float aA, aB, aC, nA, nB, nC, dA, dB, dC; //Iterate N times, ignore stop condition. - int n = 0; + unsigned int n = 0; while (n < max_iterations) { n++; diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 1535967b1..bb42889ea 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[]) @@ -1590,7 +1591,6 @@ set_main_state_rc(struct vehicle_status_s *status, struct manual_control_setpoin switch (sp_man->mode_switch) { case SWITCH_POS_NONE: res = TRANSITION_NOT_CHANGED; - warnx("NONE"); break; case SWITCH_POS_OFF: // MANUAL |