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-rw-r--r--src/modules/commander/commander.cpp8
-rw-r--r--src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp2
-rw-r--r--src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp25
-rw-r--r--src/modules/fw_pos_control_l1/mtecs/mTecs_blocks.h4
-rw-r--r--src/modules/px4iofirmware/i2c.c3
-rw-r--r--src/modules/px4iofirmware/px4io.h4
-rw-r--r--src/modules/px4iofirmware/registers.c2
-rw-r--r--src/modules/px4iofirmware/sbus.c4
-rw-r--r--src/modules/systemlib/cpuload.c2
-rw-r--r--src/modules/systemlib/systemlib.c3
10 files changed, 32 insertions, 25 deletions
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index 0003ec106..f83c1caf8 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -472,7 +472,7 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe
// Follow exactly what the mavlink spec says for values: 0.0f for disarm, 1.0f for arm.
// We use an float epsilon delta to test float equality.
if (cmd->param1 != 0.0f && (fabsf(cmd->param1 - 1.0f) > 2.0f * FLT_EPSILON)) {
- mavlink_log_info(mavlink_fd, "Unsupported ARM_DISARM parameter: %.6f", cmd->param1);
+ mavlink_log_info(mavlink_fd, "Unsupported ARM_DISARM parameter: %.6f", (double)cmd->param1);
} else {
@@ -634,7 +634,7 @@ int commander_thread_main(int argc, char *argv[])
/* welcome user */
warnx("starting");
- char *main_states_str[MAIN_STATE_MAX];
+ const char *main_states_str[MAIN_STATE_MAX];
main_states_str[MAIN_STATE_MANUAL] = "MANUAL";
main_states_str[MAIN_STATE_ALTCTL] = "ALTCTL";
main_states_str[MAIN_STATE_POSCTL] = "POSCTL";
@@ -643,7 +643,7 @@ int commander_thread_main(int argc, char *argv[])
main_states_str[MAIN_STATE_AUTO_RTL] = "AUTO_RTL";
main_states_str[MAIN_STATE_ACRO] = "ACRO";
- char *arming_states_str[ARMING_STATE_MAX];
+ const char *arming_states_str[ARMING_STATE_MAX];
arming_states_str[ARMING_STATE_INIT] = "INIT";
arming_states_str[ARMING_STATE_STANDBY] = "STANDBY";
arming_states_str[ARMING_STATE_ARMED] = "ARMED";
@@ -652,7 +652,7 @@ int commander_thread_main(int argc, char *argv[])
arming_states_str[ARMING_STATE_REBOOT] = "REBOOT";
arming_states_str[ARMING_STATE_IN_AIR_RESTORE] = "IN_AIR_RESTORE";
- char *nav_states_str[NAVIGATION_STATE_MAX];
+ const char *nav_states_str[NAVIGATION_STATE_MAX];
nav_states_str[NAVIGATION_STATE_MANUAL] = "MANUAL";
nav_states_str[NAVIGATION_STATE_ALTCTL] = "ALTCTL";
nav_states_str[NAVIGATION_STATE_POSCTL] = "POSCTL";
diff --git a/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp b/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
index e4f805dc0..5d768b73d 100644
--- a/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
+++ b/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
@@ -1533,7 +1533,7 @@ FixedwingEstimator::start()
_estimator_task = task_spawn_cmd("ekf_att_pos_estimator",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 40,
- 6000,
+ 5000,
(main_t)&FixedwingEstimator::task_main_trampoline,
nullptr);
diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
index 000c02e3d..3e835cf81 100644
--- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
@@ -414,6 +414,17 @@ FixedwingPositionControl::FixedwingPositionControl() :
_attitude_sp_pub(-1),
_nav_capabilities_pub(-1),
+ _att(),
+ _att_sp(),
+ _nav_capabilities(),
+ _manual(),
+ _airspeed(),
+ _control_mode(),
+ _global_pos(),
+ _pos_sp_triplet(),
+ _sensor_combined(),
+ _range_finder(),
+
/* performance counters */
_loop_perf(perf_alloc(PC_ELAPSED, "fw l1 control")),
@@ -433,18 +444,8 @@ FixedwingPositionControl::FixedwingPositionControl() :
_airspeed_valid(false),
_groundspeed_undershoot(0.0f),
_global_pos_valid(false),
- _att(),
- _att_sp(),
- _nav_capabilities(),
- _manual(),
- _airspeed(),
- _control_mode(),
- _global_pos(),
- _pos_sp_triplet(),
- _sensor_combined(),
_mTecs(),
- _was_pos_control_mode(false),
- _range_finder()
+ _was_pos_control_mode(false)
{
_nav_capabilities.turn_distance = 0.0f;
@@ -1449,7 +1450,7 @@ FixedwingPositionControl::start()
_control_task = task_spawn_cmd("fw_pos_control_l1",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 5,
- 4048,
+ 3500,
(main_t)&FixedwingPositionControl::task_main_trampoline,
nullptr);
diff --git a/src/modules/fw_pos_control_l1/mtecs/mTecs_blocks.h b/src/modules/fw_pos_control_l1/mtecs/mTecs_blocks.h
index e4e405227..c22e60ae0 100644
--- a/src/modules/fw_pos_control_l1/mtecs/mTecs_blocks.h
+++ b/src/modules/fw_pos_control_l1/mtecs/mTecs_blocks.h
@@ -56,9 +56,9 @@ class BlockOutputLimiter: public SuperBlock
{
public:
// methods
- BlockOutputLimiter(SuperBlock *parent, const char *name, bool isAngularLimit = false) :
+ BlockOutputLimiter(SuperBlock *parent, const char *name, bool fAngularLimit = false) :
SuperBlock(parent, name),
- _isAngularLimit(isAngularLimit),
+ _isAngularLimit(fAngularLimit),
_min(this, "MIN"),
_max(this, "MAX")
{};
diff --git a/src/modules/px4iofirmware/i2c.c b/src/modules/px4iofirmware/i2c.c
index 76762c0fc..6d1d1fc2d 100644
--- a/src/modules/px4iofirmware/i2c.c
+++ b/src/modules/px4iofirmware/i2c.c
@@ -64,12 +64,15 @@
#define rCCR REG(STM32_I2C_CCR_OFFSET)
#define rTRISE REG(STM32_I2C_TRISE_OFFSET)
+void i2c_reset(void);
static int i2c_interrupt(int irq, void *context);
static void i2c_rx_setup(void);
static void i2c_tx_setup(void);
static void i2c_rx_complete(void);
static void i2c_tx_complete(void);
+#ifdef DEBUG
static void i2c_dump(void);
+#endif
static DMA_HANDLE rx_dma;
static DMA_HANDLE tx_dma;
diff --git a/src/modules/px4iofirmware/px4io.h b/src/modules/px4iofirmware/px4io.h
index ca175bfbc..b00a96717 100644
--- a/src/modules/px4iofirmware/px4io.h
+++ b/src/modules/px4iofirmware/px4io.h
@@ -219,8 +219,8 @@ extern bool dsm_input(uint16_t *values, uint16_t *num_values);
extern void dsm_bind(uint16_t cmd, int pulses);
extern int sbus_init(const char *device);
extern bool sbus_input(uint16_t *values, uint16_t *num_values, bool *sbus_failsafe, bool *sbus_frame_drop, uint16_t max_channels);
-extern bool sbus1_output(uint16_t *values, uint16_t num_values);
-extern bool sbus2_output(uint16_t *values, uint16_t num_values);
+extern void sbus1_output(uint16_t *values, uint16_t num_values);
+extern void sbus2_output(uint16_t *values, uint16_t num_values);
/** global debug level for isr_debug() */
extern volatile uint8_t debug_level;
diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c
index 50108ea1b..b37259997 100644
--- a/src/modules/px4iofirmware/registers.c
+++ b/src/modules/px4iofirmware/registers.c
@@ -711,7 +711,7 @@ registers_get(uint8_t page, uint8_t offset, uint16_t **values, unsigned *num_val
{
#define SELECT_PAGE(_page_name) \
do { \
- *values = &_page_name[0]; \
+ *values = (uint16_t *)&_page_name[0]; \
*num_values = sizeof(_page_name) / sizeof(_page_name[0]); \
} while(0)
diff --git a/src/modules/px4iofirmware/sbus.c b/src/modules/px4iofirmware/sbus.c
index 70ccab180..0f0414148 100644
--- a/src/modules/px4iofirmware/sbus.c
+++ b/src/modules/px4iofirmware/sbus.c
@@ -116,14 +116,14 @@ sbus_init(const char *device)
return sbus_fd;
}
-bool
+void
sbus1_output(uint16_t *values, uint16_t num_values)
{
char a = 'A';
write(sbus_fd, &a, 1);
}
-bool
+void
sbus2_output(uint16_t *values, uint16_t num_values)
{
char b = 'B';
diff --git a/src/modules/systemlib/cpuload.c b/src/modules/systemlib/cpuload.c
index ccc516f39..7aa2f3a5f 100644
--- a/src/modules/systemlib/cpuload.c
+++ b/src/modules/systemlib/cpuload.c
@@ -67,7 +67,7 @@ __EXPORT void sched_note_switch(FAR struct tcb_s *pFromTcb, FAR struct tcb_s *pT
__EXPORT struct system_load_s system_load;
-extern FAR struct _TCB *sched_gettcb(pid_t pid);
+extern FAR struct tcb_s *sched_gettcb(pid_t pid);
void cpuload_initialize_once()
{
diff --git a/src/modules/systemlib/systemlib.c b/src/modules/systemlib/systemlib.c
index 9fff3eb88..90d8dd77c 100644
--- a/src/modules/systemlib/systemlib.c
+++ b/src/modules/systemlib/systemlib.c
@@ -54,6 +54,9 @@
#include "systemlib.h"
+// Didn't seem right to include up_internal.h, so direct extern instead.
+extern void up_systemreset(void) noreturn_function;
+
void
systemreset(bool to_bootloader)
{
generated by cgit v1.2.3 (git 2.39.1) at 2024-07-27 05:52:10 +0000