From b596bf6aa56b2039b51a03ab11acf2d7d719195d Mon Sep 17 00:00:00 2001
From: Julian Oes <julian@oes.ch>
Date: Sun, 16 Feb 2014 13:24:02 +0100
Subject: Mavlink: gotten rid of some warnings

---
 src/modules/mavlink/mavlink_main.cpp     | 14 +++++++++-----
 src/modules/mavlink/mavlink_receiver.cpp | 13 +++++--------
 src/modules/mavlink/mavlink_receiver.h   |  2 +-
 3 files changed, 15 insertions(+), 14 deletions(-)

diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp
index 38f753c39..42504dea9 100644
--- a/src/modules/mavlink/mavlink_main.cpp
+++ b/src/modules/mavlink/mavlink_main.cpp
@@ -52,7 +52,12 @@
 #include <poll.h>
 #include <termios.h>
 #include <time.h>
+#include <math.h> /* isinf / isnan checks */
+
 #include <sys/ioctl.h>
+#include <sys/types.h>
+#include <sys/stat.h>
+
 #include <drivers/device/device.h>
 #include <drivers/drv_hrt.h>
 #include <arch/board/board.h>
@@ -64,6 +69,7 @@
 #include <uORB/topics/parameter_update.h>
 #include <uORB/topics/mission.h>
 #include <uORB/topics/mission_result.h>
+
 #include <systemlib/param/param.h>
 #include <systemlib/err.h>
 #include <systemlib/perf_counter.h>
@@ -72,12 +78,10 @@
 #include <dataman/dataman.h>
 #include <mathlib/mathlib.h>
 #include <mavlink/mavlink_log.h>
-#include <sys/types.h>
-#include <sys/stat.h>
+
 #include <commander/px4_custom_mode.h>
 
 #include "mavlink_bridge_header.h"
-#include "math.h" /* isinf / isnan checks */
 #include "mavlink_main.h"
 #include "mavlink_orb_listener.h"
 #include "mavlink_receiver.h"
@@ -156,9 +160,9 @@ namespace mavlink
 
 Mavlink::Mavlink() :
 	device_name("/dev/ttyS1"),
-	_mavlink_fd(-1),
-	_next(nullptr),
 	_task_should_exit(false),
+	_next(nullptr),
+	_mavlink_fd(-1),
 	thread_running(false),
 	_mavlink_task(-1),
 	_mavlink_incoming_fd(-1),
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index 371f945c4..d07de0f22 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -106,7 +106,7 @@ MavlinkReceiver::MavlinkReceiver(Mavlink *parent) :
 	telemetry_status_pub(-1),
 	lat0(0),
 	lon0(0),
-	alt0(0)
+	alt0(0.0)
 {
 
 }
@@ -605,8 +605,6 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg)
 				orb_publish(ORB_ID(airspeed), pub_hil_airspeed, &airspeed);
 			}
 
-			uint64_t timestamp = hrt_absolute_time();
-
 			// publish global position	
 			if (pub_hil_global_pos > 0) {
 				orb_publish(ORB_ID(vehicle_global_position), pub_hil_global_pos, &hil_global_pos);
@@ -628,7 +626,7 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg)
 			if (pub_hil_local_pos > 0) {
 				float x;
 				float y;
-				bool landed = hil_state.alt/1000.0f < (alt0 + 0.1); // XXX improve?
+				bool landed = (float)(hil_state.alt)/1000.0f < (alt0 + 0.1f); // XXX improve?
 				double lat = hil_state.lat*1e-7;
 				double lon = hil_state.lon*1e-7;
 				map_projection_project(lat, lon, &x, &y); 
@@ -811,14 +809,13 @@ MavlinkReceiver::receive_thread(void *arg)
 
 	while (!_mavlink->_task_should_exit) {
 		if (poll(fds, 1, timeout) > 0) {
-			if (nread < sizeof(buf)) {
+
+			/* non-blocking read. read may return negative values */
+			if ((nread = read(uart_fd, buf, sizeof(buf))) < (ssize_t)sizeof(buf)) {
 				/* to avoid reading very small chunks wait for data before reading */
 				usleep(1000);
 			}
 
-			/* non-blocking read. read may return negative values */
-			nread = read(uart_fd, buf, sizeof(buf));
-
 			/* if read failed, this loop won't execute */
 			for (ssize_t i = 0; i < nread; i++) {
 				if (mavlink_parse_char(_mavlink->get_chan(), buf[i], &msg, &status)) {
diff --git a/src/modules/mavlink/mavlink_receiver.h b/src/modules/mavlink/mavlink_receiver.h
index 8e139e5e4..fca5de917 100644
--- a/src/modules/mavlink/mavlink_receiver.h
+++ b/src/modules/mavlink/mavlink_receiver.h
@@ -140,6 +140,6 @@ private:
 	orb_advert_t telemetry_status_pub;
 	int32_t lat0;
 	int32_t lon0;
-	double alt0;
+	float alt0;
 
 };
-- 
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