diff options
Diffstat (limited to 'src')
61 files changed, 299 insertions, 76 deletions
diff --git a/src/drivers/ardrone_interface/ardrone_interface.c b/src/drivers/ardrone_interface/ardrone_interface.c index 9d2c1441d..7f1b21a95 100644 --- a/src/drivers/ardrone_interface/ardrone_interface.c +++ b/src/drivers/ardrone_interface/ardrone_interface.c @@ -121,7 +121,7 @@ int ardrone_interface_main(int argc, char *argv[]) SCHED_PRIORITY_MAX - 15, 1100, ardrone_interface_thread_main, - (argv) ? (const char **)&argv[2] : (const char **)NULL); + (argv) ? (char * const *)&argv[2] : (char * const *)NULL); exit(0); } diff --git a/src/drivers/boards/aerocore/aerocore_led.c b/src/drivers/boards/aerocore/aerocore_led.c index e40d1730c..94a716029 100644 --- a/src/drivers/boards/aerocore/aerocore_led.c +++ b/src/drivers/boards/aerocore/aerocore_led.c @@ -45,6 +45,7 @@ #include "board_config.h" #include <arch/board/board.h> +#include <systemlib/err.h> /* * Ideally we'd be able to get these from up_internal.h, @@ -54,7 +55,7 @@ * 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/boards/px4fmu-v2/board_config.h b/src/drivers/boards/px4fmu-v2/board_config.h index ee365e47c..2fd8bc724 100644 --- a/src/drivers/boards/px4fmu-v2/board_config.h +++ b/src/drivers/boards/px4fmu-v2/board_config.h @@ -105,6 +105,7 @@ __BEGIN_DECLS #define GPIO_SPI_CS_ACCEL_MAG (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN15) #define GPIO_SPI_CS_BARO (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN7) #define GPIO_SPI_CS_FRAM (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN10) +#define GPIO_SPI_CS_HMC (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN1) #define GPIO_SPI_CS_MPU (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN2) #define GPIO_SPI_CS_EXT0 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN4) #define GPIO_SPI_CS_EXT1 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN14) @@ -119,6 +120,7 @@ __BEGIN_DECLS #define PX4_SPIDEV_ACCEL_MAG 2 #define PX4_SPIDEV_BARO 3 #define PX4_SPIDEV_MPU 4 +#define PX4_SPIDEV_HMC 5 /* External bus */ #define PX4_SPIDEV_EXT0 1 diff --git a/src/drivers/boards/px4fmu-v2/px4fmu_spi.c b/src/drivers/boards/px4fmu-v2/px4fmu_spi.c index 8c37d31a7..27f193513 100644 --- a/src/drivers/boards/px4fmu-v2/px4fmu_spi.c +++ b/src/drivers/boards/px4fmu-v2/px4fmu_spi.c @@ -73,6 +73,7 @@ __EXPORT void weak_function stm32_spiinitialize(void) stm32_configgpio(GPIO_SPI_CS_GYRO); stm32_configgpio(GPIO_SPI_CS_ACCEL_MAG); stm32_configgpio(GPIO_SPI_CS_BARO); + stm32_configgpio(GPIO_SPI_CS_HMC); stm32_configgpio(GPIO_SPI_CS_MPU); /* De-activate all peripherals, @@ -82,6 +83,7 @@ __EXPORT void weak_function stm32_spiinitialize(void) stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1); stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1); stm32_gpiowrite(GPIO_SPI_CS_BARO, 1); + stm32_gpiowrite(GPIO_SPI_CS_HMC, 1); stm32_gpiowrite(GPIO_SPI_CS_MPU, 1); stm32_configgpio(GPIO_EXTI_GYRO_DRDY); @@ -117,6 +119,7 @@ __EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, stm32_gpiowrite(GPIO_SPI_CS_GYRO, !selected); stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1); stm32_gpiowrite(GPIO_SPI_CS_BARO, 1); + stm32_gpiowrite(GPIO_SPI_CS_HMC, 1); stm32_gpiowrite(GPIO_SPI_CS_MPU, 1); break; @@ -125,6 +128,7 @@ __EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1); stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, !selected); stm32_gpiowrite(GPIO_SPI_CS_BARO, 1); + stm32_gpiowrite(GPIO_SPI_CS_HMC, 1); stm32_gpiowrite(GPIO_SPI_CS_MPU, 1); break; @@ -133,6 +137,16 @@ __EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1); stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1); stm32_gpiowrite(GPIO_SPI_CS_BARO, !selected); + stm32_gpiowrite(GPIO_SPI_CS_HMC, 1); + stm32_gpiowrite(GPIO_SPI_CS_MPU, 1); + break; + + case PX4_SPIDEV_HMC: + /* Making sure the other peripherals are not selected */ + stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1); + stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1); + stm32_gpiowrite(GPIO_SPI_CS_BARO, 1); + stm32_gpiowrite(GPIO_SPI_CS_HMC, !selected); stm32_gpiowrite(GPIO_SPI_CS_MPU, 1); break; @@ -141,6 +155,7 @@ __EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, enum spi_dev_e devid, stm32_gpiowrite(GPIO_SPI_CS_GYRO, 1); stm32_gpiowrite(GPIO_SPI_CS_ACCEL_MAG, 1); stm32_gpiowrite(GPIO_SPI_CS_BARO, 1); + stm32_gpiowrite(GPIO_SPI_CS_HMC, 1); stm32_gpiowrite(GPIO_SPI_CS_MPU, !selected); break; diff --git a/src/drivers/frsky_telemetry/frsky_telemetry.c b/src/drivers/frsky_telemetry/frsky_telemetry.c index bccdf1190..5035600ef 100644 --- a/src/drivers/frsky_telemetry/frsky_telemetry.c +++ b/src/drivers/frsky_telemetry/frsky_telemetry.c @@ -221,7 +221,7 @@ int frsky_telemetry_main(int argc, char *argv[]) SCHED_PRIORITY_DEFAULT, 2000, frsky_telemetry_thread_main, - (const char **)argv); + (char * const *)argv); while (!thread_running) { usleep(200); diff --git a/src/drivers/hott/comms.h b/src/drivers/hott/comms.h index f5608122f..0a586a8fd 100644 --- a/src/drivers/hott/comms.h +++ b/src/drivers/hott/comms.h @@ -41,6 +41,6 @@ #ifndef COMMS_H_ #define COMMS_H -int open_uart(const char *device); +__EXPORT int open_uart(const char *device); #endif /* COMMS_H_ */ diff --git a/src/drivers/hott/hott_sensors/hott_sensors.cpp b/src/drivers/hott/hott_sensors/hott_sensors.cpp index 8ab9d8d55..4b8e0c0b0 100644 --- a/src/drivers/hott/hott_sensors/hott_sensors.cpp +++ b/src/drivers/hott/hott_sensors/hott_sensors.cpp @@ -214,7 +214,7 @@ hott_sensors_main(int argc, char *argv[]) SCHED_PRIORITY_DEFAULT, 1024, hott_sensors_thread_main, - (argv) ? (const char **)&argv[2] : (const char **)NULL); + (argv) ? (char * const *)&argv[2] : (char * const *)NULL); exit(0); } diff --git a/src/drivers/hott/hott_sensors/module.mk b/src/drivers/hott/hott_sensors/module.mk index 47aea6caf..25a6f0ac0 100644 --- a/src/drivers/hott/hott_sensors/module.mk +++ b/src/drivers/hott/hott_sensors/module.mk @@ -37,8 +37,6 @@ MODULE_COMMAND = hott_sensors -SRCS = hott_sensors.cpp \ - ../messages.cpp \ - ../comms.cpp +SRCS = hott_sensors.cpp MAXOPTIMIZATION = -Os diff --git a/src/drivers/hott/hott_telemetry/hott_telemetry.cpp b/src/drivers/hott/hott_telemetry/hott_telemetry.cpp index edbb14172..17a24d104 100644 --- a/src/drivers/hott/hott_telemetry/hott_telemetry.cpp +++ b/src/drivers/hott/hott_telemetry/hott_telemetry.cpp @@ -240,7 +240,7 @@ hott_telemetry_main(int argc, char *argv[]) SCHED_PRIORITY_DEFAULT, 2048, hott_telemetry_thread_main, - (argv) ? (const char **)&argv[2] : (const char **)NULL); + (argv) ? (char * const *)&argv[2] : (char * const *)NULL); exit(0); } diff --git a/src/drivers/hott/hott_telemetry/module.mk b/src/drivers/hott/hott_telemetry/module.mk index cd7bdbc85..9de47b356 100644 --- a/src/drivers/hott/hott_telemetry/module.mk +++ b/src/drivers/hott/hott_telemetry/module.mk @@ -37,8 +37,6 @@ MODULE_COMMAND = hott_telemetry -SRCS = hott_telemetry.cpp \ - ../messages.cpp \ - ../comms.cpp +SRCS = hott_telemetry.cpp MAXOPTIMIZATION = -Os diff --git a/src/drivers/hott/messages.h b/src/drivers/hott/messages.h index 224f8fc56..a116a50dd 100644 --- a/src/drivers/hott/messages.h +++ b/src/drivers/hott/messages.h @@ -235,15 +235,15 @@ struct gps_module_msg { // The maximum size of a message. #define MAX_MESSAGE_BUFFER_SIZE 45 -void init_sub_messages(void); -void init_pub_messages(void); -void build_gam_request(uint8_t *buffer, size_t *size); -void publish_gam_message(const uint8_t *buffer); -void build_eam_response(uint8_t *buffer, size_t *size); -void build_gam_response(uint8_t *buffer, size_t *size); -void build_gps_response(uint8_t *buffer, size_t *size); -float _get_distance_to_next_waypoint(double lat_now, double lon_now, double lat_next, double lon_next); -void convert_to_degrees_minutes_seconds(double lat, int *deg, int *min, int *sec); +__EXPORT void init_sub_messages(void); +__EXPORT void init_pub_messages(void); +__EXPORT void build_gam_request(uint8_t *buffer, size_t *size); +__EXPORT void publish_gam_message(const uint8_t *buffer); +__EXPORT void build_eam_response(uint8_t *buffer, size_t *size); +__EXPORT void build_gam_response(uint8_t *buffer, size_t *size); +__EXPORT void build_gps_response(uint8_t *buffer, size_t *size); +__EXPORT float _get_distance_to_next_waypoint(double lat_now, double lon_now, double lat_next, double lon_next); +__EXPORT void convert_to_degrees_minutes_seconds(double lat, int *deg, int *min, int *sec); #endif /* MESSAGES_H_ */ diff --git a/src/drivers/hott/module.mk b/src/drivers/hott/module.mk new file mode 100644 index 000000000..31a66d491 --- /dev/null +++ b/src/drivers/hott/module.mk @@ -0,0 +1,41 @@ +############################################################################ +# +# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +# +# Graupner HoTT Sensors messages. +# + +SRCS = messages.cpp \ + comms.cpp + +MAXOPTIMIZATION = -Os diff --git a/src/drivers/px4flow/module.mk b/src/drivers/px4flow/module.mk index 460bec7b9..ecd3e804a 100644 --- a/src/drivers/px4flow/module.mk +++ b/src/drivers/px4flow/module.mk @@ -40,3 +40,5 @@ MODULE_COMMAND = px4flow SRCS = px4flow.cpp MAXOPTIMIZATION = -Os + +EXTRACXXFLAGS = -Wno-attributes diff --git a/src/drivers/px4flow/px4flow.cpp b/src/drivers/px4flow/px4flow.cpp index 09ec4bf96..62308fc65 100644 --- a/src/drivers/px4flow/px4flow.cpp +++ b/src/drivers/px4flow/px4flow.cpp @@ -106,7 +106,7 @@ struct i2c_frame { }; struct i2c_frame f; -typedef struct i2c_integral_frame { +struct i2c_integral_frame { uint16_t frame_count_since_last_readout; int16_t pixel_flow_x_integral; int16_t pixel_flow_y_integral; diff --git a/src/drivers/roboclaw/roboclaw_main.cpp b/src/drivers/roboclaw/roboclaw_main.cpp index 44ed03254..83086fd7c 100644 --- a/src/drivers/roboclaw/roboclaw_main.cpp +++ b/src/drivers/roboclaw/roboclaw_main.cpp @@ -109,7 +109,7 @@ int roboclaw_main(int argc, char *argv[]) SCHED_PRIORITY_MAX - 10, 2048, roboclaw_thread_main, - (const char **)argv); + (char * const *)argv); exit(0); } else if (!strcmp(argv[1], "test")) { diff --git a/src/drivers/sf0x/sf0x.cpp b/src/drivers/sf0x/sf0x.cpp index 4301750f0..8e62e0d4b 100644 --- a/src/drivers/sf0x/sf0x.cpp +++ b/src/drivers/sf0x/sf0x.cpp @@ -90,7 +90,9 @@ static const int ERROR = -1; #define SF0X_TAKE_RANGE_REG 'd' #define SF02F_MIN_DISTANCE 0.0f #define SF02F_MAX_DISTANCE 40.0f -#define SF0X_DEFAULT_PORT "/dev/ttyS2" + +// designated SERIAL4/5 on Pixhawk +#define SF0X_DEFAULT_PORT "/dev/ttyS6" class SF0X : public device::CDev { diff --git a/src/drivers/trone/trone.cpp b/src/drivers/trone/trone.cpp index 83b5c987e..cf3546669 100644 --- a/src/drivers/trone/trone.cpp +++ b/src/drivers/trone/trone.cpp @@ -206,7 +206,7 @@ static const uint8_t crc_table[] = { 0xfa, 0xfd, 0xf4, 0xf3 }; -uint8_t crc8(uint8_t *p, uint8_t len){ +static uint8_t crc8(uint8_t *p, uint8_t len) { uint16_t i; uint16_t crc = 0x0; diff --git a/src/examples/fixedwing_control/main.c b/src/examples/fixedwing_control/main.c index 6a5cbcd30..fcbb54c8e 100644 --- a/src/examples/fixedwing_control/main.c +++ b/src/examples/fixedwing_control/main.c @@ -423,7 +423,7 @@ int ex_fixedwing_control_main(int argc, char *argv[]) SCHED_PRIORITY_MAX - 20, 2048, fixedwing_control_thread_main, - (argv) ? (const char **)&argv[2] : (const char **)NULL); + (argv) ? (char * const *)&argv[2] : (char * const *)NULL); thread_running = true; exit(0); } diff --git a/src/examples/fixedwing_control/module.mk b/src/examples/fixedwing_control/module.mk index a2a9eb113..f6c882ead 100644 --- a/src/examples/fixedwing_control/module.mk +++ b/src/examples/fixedwing_control/module.mk @@ -41,3 +41,5 @@ SRCS = main.c \ params.c MODULE_STACKSIZE = 1200 + +EXTRACFLAGS = -Wframe-larger-than=1200 diff --git a/src/examples/flow_position_estimator/flow_position_estimator_main.c b/src/examples/flow_position_estimator/flow_position_estimator_main.c index 5a23932d3..1ac0c2d04 100644 --- a/src/examples/flow_position_estimator/flow_position_estimator_main.c +++ b/src/examples/flow_position_estimator/flow_position_estimator_main.c @@ -115,7 +115,7 @@ int flow_position_estimator_main(int argc, char *argv[]) SCHED_PRIORITY_MAX - 5, 4000, flow_position_estimator_thread_main, - (argv) ? (const char **)&argv[2] : (const char **)NULL); + (argv) ? (char * const *)&argv[2] : (char * const *)NULL); exit(0); } diff --git a/src/examples/flow_position_estimator/module.mk b/src/examples/flow_position_estimator/module.mk index 88c9ceb93..5c6e29f8f 100644 --- a/src/examples/flow_position_estimator/module.mk +++ b/src/examples/flow_position_estimator/module.mk @@ -39,3 +39,5 @@ MODULE_COMMAND = flow_position_estimator SRCS = flow_position_estimator_main.c \ flow_position_estimator_params.c + +EXTRACFLAGS = -Wno-float-equal diff --git a/src/examples/hwtest/hwtest.c b/src/examples/hwtest/hwtest.c index d3b10f46e..95ff346bb 100644 --- a/src/examples/hwtest/hwtest.c +++ b/src/examples/hwtest/hwtest.c @@ -39,13 +39,15 @@ * @author Lorenz Meier <lm@inf.ethz.ch> */ -#include <nuttx/config.h> #include <stdio.h> -#include <systemlib/err.h> +#include <string.h> + #include <drivers/drv_hrt.h> -#include <uORB/uORB.h> -#include <uORB/topics/actuator_controls.h> +#include <nuttx/config.h> +#include <systemlib/err.h> #include <uORB/topics/actuator_armed.h> +#include <uORB/topics/actuator_controls.h> +#include <uORB/uORB.h> __EXPORT int ex_hwtest_main(int argc, char *argv[]); @@ -53,7 +55,7 @@ int ex_hwtest_main(int argc, char *argv[]) { warnx("DO NOT FORGET TO STOP THE COMMANDER APP!"); warnx("(run <commander stop> to do so)"); - warnx("usage: http://px4.io/dev/examples/write_output"); + warnx("usage: http://px4.io/dev/examples/write_output"); struct actuator_controls_s actuators; memset(&actuators, 0, sizeof(actuators)); diff --git a/src/examples/matlab_csv_serial/matlab_csv_serial.c b/src/examples/matlab_csv_serial/matlab_csv_serial.c index c66bebeec..a95f45d1a 100644 --- a/src/examples/matlab_csv_serial/matlab_csv_serial.c +++ b/src/examples/matlab_csv_serial/matlab_csv_serial.c @@ -107,7 +107,7 @@ int matlab_csv_serial_main(int argc, char *argv[]) SCHED_PRIORITY_MAX - 5, 2000, matlab_csv_serial_thread_main, - (argv) ? (const char **)&argv[2] : (const char **)NULL); + (argv) ? (char * const *)&argv[2] : (char * const *)NULL); exit(0); } diff --git a/src/examples/px4_daemon_app/px4_daemon_app.c b/src/examples/px4_daemon_app/px4_daemon_app.c index 3eaf14148..45d541137 100644 --- a/src/examples/px4_daemon_app/px4_daemon_app.c +++ b/src/examples/px4_daemon_app/px4_daemon_app.c @@ -38,10 +38,13 @@ * @author Example User <mail@example.com> */ +#include <stdio.h> +#include <stdlib.h> +#include <string.h> +#include <unistd.h> + #include <nuttx/config.h> #include <nuttx/sched.h> -#include <unistd.h> -#include <stdio.h> #include <systemlib/systemlib.h> #include <systemlib/err.h> @@ -100,7 +103,7 @@ int px4_daemon_app_main(int argc, char *argv[]) SCHED_PRIORITY_DEFAULT, 2000, px4_daemon_thread_main, - (argv) ? (const char **)&argv[2] : (const char **)NULL); + (argv) ? (char * const *)&argv[2] : (char * const *)NULL); exit(0); } diff --git a/src/lib/conversion/rotation.cpp b/src/lib/conversion/rotation.cpp index e17715733..1fe36d395 100644 --- a/src/lib/conversion/rotation.cpp +++ b/src/lib/conversion/rotation.cpp @@ -181,6 +181,11 @@ rotate_3f(enum Rotation rot, float &x, float &y, float &z) x = tmp; return; } + case ROTATION_ROLL_270_YAW_270: { + tmp = z; z = -y; y = tmp; + tmp = x; x = y; y = -tmp; + return; + } case ROTATION_PITCH_90: { tmp = z; z = -x; x = tmp; return; diff --git a/src/lib/rc/st24.c b/src/lib/rc/st24.c index e8a791b8f..5c53a1602 100644 --- a/src/lib/rc/st24.c +++ b/src/lib/rc/st24.c @@ -72,7 +72,7 @@ const char *decode_states[] = {"UNSYNCED", #define ST24_SCALE_OFFSET (int)(ST24_TARGET_MIN - (ST24_SCALE_FACTOR * ST24_RANGE_MIN + 0.5f)) static enum ST24_DECODE_STATE _decode_state = ST24_DECODE_STATE_UNSYNCED; -static unsigned _rxlen; +static uint8_t _rxlen; static ReceiverFcPacket _rxpacket; diff --git a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp index 4c64c88ae..d68f12c8e 100755 --- a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp +++ b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp @@ -63,6 +63,7 @@ #include <uORB/topics/vehicle_gps_position.h> #include <uORB/topics/vehicle_global_position.h> #include <uORB/topics/parameter_update.h> +#include <uORB/topics/vision_position_estimate.h> #include <drivers/drv_hrt.h> #include <lib/mathlib/mathlib.h> @@ -134,7 +135,7 @@ int attitude_estimator_ekf_main(int argc, char *argv[]) SCHED_PRIORITY_MAX - 5, 7200, attitude_estimator_ekf_thread_main, - (argv) ? (const char **)&argv[2] : (const char **)NULL); + (argv) ? (char * const *)&argv[2] : (char * const *)NULL); exit(0); } @@ -207,7 +208,6 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds }; /**< init: identity matrix */ float debugOutput[4] = { 0.0f }; - int overloadcounter = 19; /* Initialize filter */ @@ -220,6 +220,8 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds memset(&raw, 0, sizeof(raw)); struct vehicle_gps_position_s gps; memset(&gps, 0, sizeof(gps)); + gps.eph = 100000; + gps.epv = 100000; struct vehicle_global_position_s global_pos; memset(&global_pos, 0, sizeof(global_pos)); struct vehicle_attitude_s att; @@ -258,9 +260,12 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds /* subscribe to param changes */ int sub_params = orb_subscribe(ORB_ID(parameter_update)); - /* subscribe to control mode*/ + /* subscribe to control mode */ int sub_control_mode = orb_subscribe(ORB_ID(vehicle_control_mode)); + /* subscribe to vision estimate */ + int vision_sub = orb_subscribe(ORB_ID(vision_position_estimate)); + /* advertise attitude */ orb_advert_t pub_att = orb_advertise(ORB_ID(vehicle_attitude), &att); @@ -268,14 +273,11 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds thread_running = true; - /* advertise debug value */ - // struct debug_key_value_s dbg = { .key = "", .value = 0.0f }; - // orb_advert_t pub_dbg = -1; - /* keep track of sensor updates */ uint64_t sensor_last_timestamp[3] = {0, 0, 0}; - struct attitude_estimator_ekf_params ekf_params = { 0 }; + struct attitude_estimator_ekf_params ekf_params; + memset(&ekf_params, 0, sizeof(ekf_params)); struct attitude_estimator_ekf_param_handles ekf_param_handles = { 0 }; @@ -293,6 +295,8 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds math::Matrix<3, 3> R_decl; R_decl.identity(); + struct vision_position_estimate vision {}; + /* register the perf counter */ perf_counter_t ekf_loop_perf = perf_alloc(PC_ELAPSED, "attitude_estimator_ekf"); @@ -313,8 +317,7 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds orb_copy(ORB_ID(vehicle_control_mode), sub_control_mode, &control_mode); if (!control_mode.flag_system_hil_enabled) { - fprintf(stderr, - "[att ekf] WARNING: Not getting sensors - sensor app running?\n"); + warnx("WARNING: Not getting sensors - sensor app running?"); } } else { @@ -449,9 +452,30 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds sensor_last_timestamp[2] = raw.magnetometer_timestamp; } - z_k[6] = raw.magnetometer_ga[0]; - z_k[7] = raw.magnetometer_ga[1]; - z_k[8] = raw.magnetometer_ga[2]; + bool vision_updated = false; + orb_check(vision_sub, &vision_updated); + + if (vision_updated) { + orb_copy(ORB_ID(vision_position_estimate), vision_sub, &vision); + } + + if (vision.timestamp_boot > 0 && (hrt_elapsed_time(&vision.timestamp_boot) < 500000)) { + + math::Quaternion q(vision.q); + math::Matrix<3, 3> Rvis = q.to_dcm(); + + math::Vector<3> v(1.0f, 0.0f, 0.4f); + + math::Vector<3> vn = Rvis * v; + + z_k[6] = vn(0); + z_k[7] = vn(1); + z_k[8] = vn(2); + } else { + z_k[6] = raw.magnetometer_ga[0]; + z_k[7] = raw.magnetometer_ga[1]; + z_k[8] = raw.magnetometer_ga[2]; + } uint64_t now = hrt_absolute_time(); unsigned int time_elapsed = now - last_run; diff --git a/src/modules/attitude_estimator_ekf/module.mk b/src/modules/attitude_estimator_ekf/module.mk index 749b0a91c..1158536e1 100644 --- a/src/modules/attitude_estimator_ekf/module.mk +++ b/src/modules/attitude_estimator_ekf/module.mk @@ -42,3 +42,7 @@ SRCS = attitude_estimator_ekf_main.cpp \ codegen/AttitudeEKF.c MODULE_STACKSIZE = 1200 + +EXTRACFLAGS = -Wno-float-equal -Wframe-larger-than=3600 + +EXTRACXXFLAGS = -Wframe-larger-than=2400 diff --git a/src/modules/attitude_estimator_so3/attitude_estimator_so3_main.cpp b/src/modules/attitude_estimator_so3/attitude_estimator_so3_main.cpp index e49027e47..9414225ca 100755 --- a/src/modules/attitude_estimator_so3/attitude_estimator_so3_main.cpp +++ b/src/modules/attitude_estimator_so3/attitude_estimator_so3_main.cpp @@ -153,7 +153,7 @@ int attitude_estimator_so3_main(int argc, char *argv[]) SCHED_PRIORITY_MAX - 5, 14000, attitude_estimator_so3_thread_main, - (argv) ? (const char **)&argv[2] : (const char **)NULL); + (argv) ? (char * const *)&argv[2] : (char * const *)NULL); exit(0); } diff --git a/src/modules/attitude_estimator_so3/module.mk b/src/modules/attitude_estimator_so3/module.mk index f52715abb..7b2e206cc 100644 --- a/src/modules/attitude_estimator_so3/module.mk +++ b/src/modules/attitude_estimator_so3/module.mk @@ -8,3 +8,5 @@ SRCS = attitude_estimator_so3_main.cpp \ attitude_estimator_so3_params.c MODULE_STACKSIZE = 1200 + +EXTRACXXFLAGS = -Wno-float-equal diff --git a/src/modules/bottle_drop/bottle_drop.cpp b/src/modules/bottle_drop/bottle_drop.cpp index 53ab74305..d8116ea11 100644 --- a/src/modules/bottle_drop/bottle_drop.cpp +++ b/src/modules/bottle_drop/bottle_drop.cpp @@ -524,6 +524,9 @@ BottleDrop::task_main() } switch (_drop_state) { + case DROP_STATE_INIT: + // do nothing + break; case DROP_STATE_TARGET_VALID: { @@ -690,6 +693,10 @@ BottleDrop::task_main() orb_publish(ORB_ID(onboard_mission), _onboard_mission_pub, &_onboard_mission); } break; + + case DROP_STATE_BAY_CLOSED: + // do nothing + break; } counter++; diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index dca5c1a8e..dc0594bf2 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -268,7 +268,7 @@ int commander_main(int argc, char *argv[]) SCHED_PRIORITY_MAX - 40, 3200, commander_thread_main, - (argv) ? (const char **)&argv[2] : (const char **)NULL); + (argv) ? (char * const *)&argv[2] : (char * const *)NULL); while (!thread_running) { usleep(200); diff --git a/src/modules/commander/module.mk b/src/modules/commander/module.mk index 27ca5c182..0e2a5356b 100644 --- a/src/modules/commander/module.mk +++ b/src/modules/commander/module.mk @@ -51,3 +51,6 @@ SRCS = commander.cpp \ MODULE_STACKSIZE = 1200 MAXOPTIMIZATION = -Os + +EXTRACXXFLAGS = -Wframe-larger-than=2000 + diff --git a/src/modules/ekf_att_pos_estimator/module.mk b/src/modules/ekf_att_pos_estimator/module.mk index 36d854ddd..843dde978 100644 --- a/src/modules/ekf_att_pos_estimator/module.mk +++ b/src/modules/ekf_att_pos_estimator/module.mk @@ -42,4 +42,5 @@ SRCS = ekf_att_pos_estimator_main.cpp \ estimator_23states.cpp \ estimator_utilities.cpp -EXTRACXXFLAGS = -Weffc++ +EXTRACXXFLAGS = -Weffc++ -Wframe-larger-than=6100 + diff --git a/src/modules/fixedwing_backside/fixedwing_backside_main.cpp b/src/modules/fixedwing_backside/fixedwing_backside_main.cpp index f4ea05088..71b387b1e 100644 --- a/src/modules/fixedwing_backside/fixedwing_backside_main.cpp +++ b/src/modules/fixedwing_backside/fixedwing_backside_main.cpp @@ -115,7 +115,7 @@ int fixedwing_backside_main(int argc, char *argv[]) SCHED_PRIORITY_MAX - 10, 5120, control_demo_thread_main, - (argv) ? (const char **)&argv[2] : (const char **)NULL); + (argv) ? (char * const *)&argv[2] : (char * const *)NULL); exit(0); } diff --git a/src/modules/fw_pos_control_l1/module.mk b/src/modules/fw_pos_control_l1/module.mk index 440bab2c5..98e5c0a1e 100644 --- a/src/modules/fw_pos_control_l1/module.mk +++ b/src/modules/fw_pos_control_l1/module.mk @@ -47,3 +47,5 @@ SRCS = fw_pos_control_l1_main.cpp \ MODULE_STACKSIZE = 1200 MAXOPTIMIZATION = -Os + +EXTRACXXFLAGS = -Wno-float-equal diff --git a/src/modules/mavlink/mavlink_ftp.cpp b/src/modules/mavlink/mavlink_ftp.cpp index f17497aa8..4ba595a87 100644 --- a/src/modules/mavlink/mavlink_ftp.cpp +++ b/src/modules/mavlink/mavlink_ftp.cpp @@ -801,7 +801,7 @@ MavlinkFTP::_return_request(Request *req) /// @brief Copy file (with limited space) int -MavlinkFTP::_copy_file(const char *src_path, const char *dst_path, ssize_t length) +MavlinkFTP::_copy_file(const char *src_path, const char *dst_path, size_t length) { char buff[512]; int src_fd = -1, dst_fd = -1; diff --git a/src/modules/mavlink/mavlink_ftp.h b/src/modules/mavlink/mavlink_ftp.h index bef6775a9..9693a92a9 100644 --- a/src/modules/mavlink/mavlink_ftp.h +++ b/src/modules/mavlink/mavlink_ftp.h @@ -142,7 +142,7 @@ private: static void _worker_trampoline(void *arg); void _process_request(Request *req); void _reply(Request *req); - int _copy_file(const char *src_path, const char *dst_path, ssize_t length); + int _copy_file(const char *src_path, const char *dst_path, size_t length); ErrorCode _workList(PayloadHeader *payload); ErrorCode _workOpen(PayloadHeader *payload, int oflag); diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp index 29b7ec7b7..f9a3681b3 100644 --- a/src/modules/mavlink/mavlink_main.cpp +++ b/src/modules/mavlink/mavlink_main.cpp @@ -948,7 +948,6 @@ Mavlink::configure_stream(const char *stream_name, const float rate) /* delete stream */ LL_DELETE(_streams, stream); delete stream; - warnx("deleted stream %s", stream->get_name()); } return OK; @@ -1412,9 +1411,13 @@ Mavlink::task_main(int argc, char *argv[]) configure_stream("SYS_STATUS", 1.0f); configure_stream("ATTITUDE", 50.0f); configure_stream("GLOBAL_POSITION_INT", 50.0f); + configure_stream("LOCAL_POSITION_NED", 30.0f); configure_stream("CAMERA_CAPTURE", 2.0f); configure_stream("ATTITUDE_TARGET", 10.0f); configure_stream("POSITION_TARGET_GLOBAL_INT", 10.0f); + configure_stream("POSITION_TARGET_LOCAL_NED", 10.0f); + configure_stream("DISTANCE_SENSOR", 10.0f); + configure_stream("OPTICAL_FLOW_RAD", 10.0f); configure_stream("VFR_HUD", 10.0f); break; @@ -1638,7 +1641,7 @@ Mavlink::start(int argc, char *argv[]) SCHED_PRIORITY_DEFAULT, 2800, (main_t)&Mavlink::start_helper, - (const char **)argv); + (char * const *)argv); // Ensure that this shell command // does not return before the instance diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index 378e3427d..0f25c969d 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -1486,6 +1486,7 @@ protected: if (_pos_sp_triplet_sub->update(&pos_sp_triplet)) { mavlink_position_target_global_int_t msg{}; + msg.time_boot_ms = hrt_absolute_time()/1000; msg.coordinate_frame = MAV_FRAME_GLOBAL; msg.lat_int = pos_sp_triplet.current.lat * 1e7; msg.lon_int = pos_sp_triplet.current.lon * 1e7; @@ -1764,6 +1765,9 @@ protected: case RC_INPUT_SOURCE_PX4IO_ST24: msg.rssi |= (3 << 4); break; + case RC_INPUT_SOURCE_UNKNOWN: + // do nothing + break; } if (rc.rc_lost) { diff --git a/src/modules/mavlink/module.mk b/src/modules/mavlink/module.mk index 91fdd6154..f9d30dcbe 100644 --- a/src/modules/mavlink/module.mk +++ b/src/modules/mavlink/module.mk @@ -53,4 +53,6 @@ MAXOPTIMIZATION = -Os MODULE_STACKSIZE = 1024 -EXTRACXXFLAGS = -Weffc++ +EXTRACXXFLAGS = -Weffc++ -Wno-attributes -Wno-packed + +EXTRACFLAGS = -Wno-packed diff --git a/src/modules/navigator/module.mk b/src/modules/navigator/module.mk index c44d4c35e..0d7d6b9ef 100644 --- a/src/modules/navigator/module.mk +++ b/src/modules/navigator/module.mk @@ -62,3 +62,5 @@ INCLUDE_DIRS += $(MAVLINK_SRC)/include/mavlink MODULE_STACKSIZE = 1200 MAXOPTIMIZATION = -Os + +EXTRACXXFLAGS = -Wno-sign-compare diff --git a/src/modules/position_estimator_inav/module.mk b/src/modules/position_estimator_inav/module.mk index 0658d3f09..45c876299 100644 --- a/src/modules/position_estimator_inav/module.mk +++ b/src/modules/position_estimator_inav/module.mk @@ -41,3 +41,6 @@ SRCS = position_estimator_inav_main.c \ inertial_filter.c MODULE_STACKSIZE = 1200 + +EXTRACFLAGS = -Wframe-larger-than=3500 + diff --git a/src/modules/position_estimator_inav/position_estimator_inav_main.c b/src/modules/position_estimator_inav/position_estimator_inav_main.c index 4bdb4d539..6fb87ae7e 100644 --- a/src/modules/position_estimator_inav/position_estimator_inav_main.c +++ b/src/modules/position_estimator_inav/position_estimator_inav_main.c @@ -152,7 +152,7 @@ int position_estimator_inav_main(int argc, char *argv[]) position_estimator_inav_task = task_spawn_cmd("position_estimator_inav", SCHED_DEFAULT, SCHED_PRIORITY_MAX - 5, 5000, position_estimator_inav_thread_main, - (argv) ? (const char **) &argv[2] : (const char **) NULL); + (argv) ? (char * const *) &argv[2] : (char * const *) NULL); exit(0); } @@ -234,8 +234,8 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) float eph_flow = 1.0f; - float eph_vision = 0.5f; - float epv_vision = 0.5f; + float eph_vision = 0.2f; + float epv_vision = 0.2f; float x_est_prev[2], y_est_prev[2], z_est_prev[2]; memset(x_est_prev, 0, sizeof(x_est_prev)); @@ -641,6 +641,10 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) if (updated) { orb_copy(ORB_ID(vision_position_estimate), vision_position_estimate_sub, &vision); + static float last_vision_x = 0.0f; + static float last_vision_y = 0.0f; + static float last_vision_z = 0.0f; + /* reset position estimate on first vision update */ if (!vision_valid) { x_est[0] = vision.x; @@ -655,6 +659,11 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) } vision_valid = true; + + last_vision_x = vision.x; + last_vision_y = vision.y; + last_vision_z = vision.z; + warnx("VISION estimate valid"); mavlink_log_info(mavlink_fd, "[inav] VISION estimate valid"); } @@ -664,10 +673,30 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) corr_vision[1][0] = vision.y - y_est[0]; corr_vision[2][0] = vision.z - z_est[0]; - /* calculate correction for velocity */ - corr_vision[0][1] = vision.vx - x_est[1]; - corr_vision[1][1] = vision.vy - y_est[1]; - corr_vision[2][1] = vision.vz - z_est[1]; + static hrt_abstime last_vision_time = 0; + + float vision_dt = (vision.timestamp_boot - last_vision_time) / 1e6f; + last_vision_time = vision.timestamp_boot; + + if (vision_dt > 0.000001f && vision_dt < 0.2f) { + vision.vx = (vision.x - last_vision_x) / vision_dt; + vision.vy = (vision.y - last_vision_y) / vision_dt; + vision.vz = (vision.z - last_vision_z) / vision_dt; + + last_vision_x = vision.x; + last_vision_y = vision.y; + last_vision_z = vision.z; + + /* calculate correction for velocity */ + corr_vision[0][1] = vision.vx - x_est[1]; + corr_vision[1][1] = vision.vy - y_est[1]; + corr_vision[2][1] = vision.vz - z_est[1]; + } else { + /* assume zero motion */ + corr_vision[0][1] = 0.0f - x_est[1]; + corr_vision[1][1] = 0.0f - y_est[1]; + corr_vision[2][1] = 0.0f - z_est[1]; + } } } diff --git a/src/modules/position_estimator_inav/position_estimator_inav_params.c b/src/modules/position_estimator_inav/position_estimator_inav_params.c index cc0fb4155..b7f6509d7 100644 --- a/src/modules/position_estimator_inav/position_estimator_inav_params.c +++ b/src/modules/position_estimator_inav/position_estimator_inav_params.c @@ -116,7 +116,7 @@ PARAM_DEFINE_FLOAT(INAV_W_XY_GPS_V, 2.0f); * @max 10.0 * @group Position Estimator INAV */ -PARAM_DEFINE_FLOAT(INAV_W_XY_VIS_P, 5.0f); +PARAM_DEFINE_FLOAT(INAV_W_XY_VIS_P, 7.0f); /** * XY axis weight for vision velocity diff --git a/src/modules/sdlog2/module.mk b/src/modules/sdlog2/module.mk index d4a00af39..f1118000e 100644 --- a/src/modules/sdlog2/module.mk +++ b/src/modules/sdlog2/module.mk @@ -45,3 +45,6 @@ SRCS = sdlog2.c \ MODULE_STACKSIZE = 1200 MAXOPTIMIZATION = -Os + +EXTRACFLAGS = -Wframe-larger-than=1200 + diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c index 6df677338..0a8564da6 100644 --- a/src/modules/sdlog2/sdlog2.c +++ b/src/modules/sdlog2/sdlog2.c @@ -304,7 +304,7 @@ int sdlog2_main(int argc, char *argv[]) SCHED_PRIORITY_DEFAULT - 30, 3000, sdlog2_thread_main, - (const char **)argv); + (char * const *)argv); exit(0); } @@ -1089,6 +1089,8 @@ int sdlog2_thread_main(int argc, char *argv[]) if (_extended_logging) { subs.sat_info_sub = orb_subscribe(ORB_ID(satellite_info)); + } else { + subs.sat_info_sub = 0; } /* close non-needed fd's */ diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h index b78b430aa..5b047f538 100644 --- a/src/modules/sdlog2/sdlog2_messages.h +++ b/src/modules/sdlog2/sdlog2_messages.h @@ -468,7 +468,7 @@ static const struct log_format_s log_formats[] = { LOG_FORMAT(OUT0, "ffffffff", "Out0,Out1,Out2,Out3,Out4,Out5,Out6,Out7"), LOG_FORMAT(AIRS, "fff", "IndSpeed,TrueSpeed,AirTemp"), LOG_FORMAT(ARSP, "fff", "RollRateSP,PitchRateSP,YawRateSP"), - LOG_FORMAT(FLOW, "hhfffBB", "RawX,RawY,CompX,CompY,Dist,Q,SensID"), + LOG_FORMAT(FLOW, "QBffffffLLHhB", "IntT,ID,RawX,RawY,RX,RY,RZ,Dist,TSpan,DtSonar,FrmCnt,GT,Qlty"), LOG_FORMAT(GPOS, "LLfffffff", "Lat,Lon,Alt,VelN,VelE,VelD,EPH,EPV,TALT"), LOG_FORMAT(GPSP, "BLLffBfbf", "NavState,Lat,Lon,Alt,Yaw,Type,LoitR,LoitDir,PitMin"), LOG_FORMAT(ESC, "HBBBHHffiffH", "count,nESC,Conn,N,Ver,Adr,Volt,Amp,RPM,Temp,SetP,SetPRAW"), diff --git a/src/modules/segway/segway_main.cpp b/src/modules/segway/segway_main.cpp index 061fbf9b9..ee492f85a 100644 --- a/src/modules/segway/segway_main.cpp +++ b/src/modules/segway/segway_main.cpp @@ -110,7 +110,7 @@ int segway_main(int argc, char *argv[]) SCHED_PRIORITY_MAX - 10, 5120, segway_thread_main, - (argv) ? (const char **)&argv[2] : (const char **)NULL); + (argv) ? (char * const *)&argv[2] : (char * const *)NULL); exit(0); } diff --git a/src/modules/sensors/module.mk b/src/modules/sensors/module.mk index dfbba92d9..f37bc9327 100644 --- a/src/modules/sensors/module.mk +++ b/src/modules/sensors/module.mk @@ -44,3 +44,5 @@ SRCS = sensors.cpp \ MODULE_STACKSIZE = 1200 MAXOPTIMIZATION = -Os + +EXTRACXXFLAGS = -Wno-type-limits diff --git a/src/modules/systemlib/module.mk b/src/modules/systemlib/module.mk index 1e0a9c007..f2499bbb1 100644 --- a/src/modules/systemlib/module.mk +++ b/src/modules/systemlib/module.mk @@ -58,3 +58,5 @@ SRCS = err.c \ mcu_version.c MAXOPTIMIZATION = -Os + +EXTRACFLAGS = -Wno-sign-compare diff --git a/src/modules/systemlib/system_params.c b/src/modules/systemlib/system_params.c index 702e435ac..a0988035c 100644 --- a/src/modules/systemlib/system_params.c +++ b/src/modules/systemlib/system_params.c @@ -82,3 +82,17 @@ PARAM_DEFINE_INT32(SYS_USE_IO, 1); * @group System */ PARAM_DEFINE_INT32(SYS_RESTART_TYPE, 2); + +/** +* Companion computer interface +* +* Configures the baud rate of the companion computer interface. +* Set to zero to disable, set to 921600 to enable. +* CURRENTLY ONLY SUPPORTS 921600 BAUD! Use extras.txt for +* other baud rates. +* +* @min 0 +* @max 921600 +* @group System +*/ +PARAM_DEFINE_INT32(SYS_COMPANION, 0); diff --git a/src/modules/systemlib/systemlib.c b/src/modules/systemlib/systemlib.c index 90d8dd77c..82183b0d7 100644 --- a/src/modules/systemlib/systemlib.c +++ b/src/modules/systemlib/systemlib.c @@ -87,7 +87,7 @@ static void kill_task(FAR struct tcb_s *tcb, FAR void *arg) kill(tcb->pid, SIGUSR1); } -int task_spawn_cmd(const char *name, int scheduler, int priority, int stack_size, main_t entry, const char *argv[]) +int task_spawn_cmd(const char *name, int scheduler, int priority, int stack_size, main_t entry, char * const argv[]) { int pid; diff --git a/src/modules/systemlib/systemlib.h b/src/modules/systemlib/systemlib.h index 6e22a557e..2f24215a9 100644 --- a/src/modules/systemlib/systemlib.h +++ b/src/modules/systemlib/systemlib.h @@ -64,7 +64,7 @@ __EXPORT int task_spawn_cmd(const char *name, int scheduler, int stack_size, main_t entry, - const char *argv[]); + char * const argv[]); enum MULT_PORTS { MULT_0_US2_RXTX = 0, diff --git a/src/modules/uORB/uORB.h b/src/modules/uORB/uORB.h index a6e9171ed..707ff1efd 100644 --- a/src/modules/uORB/uORB.h +++ b/src/modules/uORB/uORB.h @@ -68,6 +68,33 @@ typedef const struct orb_metadata *orb_id_t; #define ORB_ID(_name) &__orb_##_name /** + * Generates a pointer to the uORB metadata structure for + * a given topic. + * + * The topic must have been declared previously in scope + * with ORB_DECLARE(). + * + * @param _name The name of the topic. + * @param _count The class ID of the topic + */ +#define ORB_ID_DOUBLE(_name, _count) ((_count == CLASS_DEVICE_PRIMARY) ? &__orb_##_name##0 : &__orb_##_name##1) + +/** + * Generates a pointer to the uORB metadata structure for + * a given topic. + * + * The topic must have been declared previously in scope + * with ORB_DECLARE(). + * + * @param _name The name of the topic. + * @param _count The class ID of the topic + */ +#define ORB_ID_TRIPLE(_name, _count) \ + ((_count == CLASS_DEVICE_PRIMARY) ? &__orb_##_name##0 : \ + ((_count == CLASS_DEVICE_SECONDARY) ? &__orb_##_name##1 : \ + (((_count == CLASS_DEVICE_TERTIARY) ? &__orb_##_name##2 : 0)))) + +/** * Declare (prototype) the uORB metadata for a topic. * * Note that optional topics are declared weak; this allows a potential diff --git a/src/modules/vtol_att_control/module.mk b/src/modules/vtol_att_control/module.mk index 0d5155e90..0cf3072c8 100644 --- a/src/modules/vtol_att_control/module.mk +++ b/src/modules/vtol_att_control/module.mk @@ -39,3 +39,6 @@ MODULE_COMMAND = vtol_att_control SRCS = vtol_att_control_main.cpp \ vtol_att_control_params.c + +EXTRACXXFLAGS = -Wno-write-strings + diff --git a/src/systemcmds/bl_update/bl_update.c b/src/systemcmds/bl_update/bl_update.c index 0569d89f5..ec9269d39 100644 --- a/src/systemcmds/bl_update/bl_update.c +++ b/src/systemcmds/bl_update/bl_update.c @@ -52,6 +52,8 @@ #include "systemlib/systemlib.h" #include "systemlib/err.h" +#define BL_FILE_SIZE_LIMIT 16384 + __EXPORT int bl_update_main(int argc, char *argv[]); static void setopt(void); @@ -72,12 +74,12 @@ bl_update_main(int argc, char *argv[]) struct stat s; - if (stat(argv[1], &s) < 0) + if (!stat(argv[1], &s)) err(1, "stat %s", argv[1]); /* sanity-check file size */ - if (s.st_size > 16384) - errx(1, "%s: file too large", argv[1]); + if (s.st_size > BL_FILE_SIZE_LIMIT) + errx(1, "%s: file too large (limit: %u, actual: %d)", argv[1], BL_FILE_SIZE_LIMIT, s.st_size); uint8_t *buf = malloc(s.st_size); diff --git a/src/systemcmds/mixer/module.mk b/src/systemcmds/mixer/module.mk index cdbff75f0..0fb899c67 100644 --- a/src/systemcmds/mixer/module.mk +++ b/src/systemcmds/mixer/module.mk @@ -41,3 +41,6 @@ SRCS = mixer.cpp MODULE_STACKSIZE = 4096 MAXOPTIMIZATION = -Os + +EXTRACXXFLAGS = -Wframe-larger-than=2048 + diff --git a/src/systemcmds/mtd/module.mk b/src/systemcmds/mtd/module.mk index 1bc4f414e..bca1cdcc1 100644 --- a/src/systemcmds/mtd/module.mk +++ b/src/systemcmds/mtd/module.mk @@ -6,3 +6,6 @@ MODULE_COMMAND = mtd SRCS = mtd.c 24xxxx_mtd.c MAXOPTIMIZATION = -Os + +EXTRACFLAGS = -Wno-error + diff --git a/src/systemcmds/param/param.c b/src/systemcmds/param/param.c index e110335e7..80ee204e8 100644 --- a/src/systemcmds/param/param.c +++ b/src/systemcmds/param/param.c @@ -212,7 +212,7 @@ static void do_show(const char* search_string) { printf(" + = saved, * = unsaved\n"); - param_foreach(do_show_print, search_string, false); + param_foreach(do_show_print, (char *)search_string, false); exit(0); } diff --git a/src/systemcmds/tests/module.mk b/src/systemcmds/tests/module.mk index 622a0faf3..6eed3922c 100644 --- a/src/systemcmds/tests/module.mk +++ b/src/systemcmds/tests/module.mk @@ -34,3 +34,6 @@ SRCS = test_adc.c \ test_conv.cpp \ test_mount.c \ test_mtd.c + +EXTRACXXFLAGS = -Wframe-larger-than=2500 + |