From 662a7403b2ef00018d6c1b38265ec0ba4a9ae6bf Mon Sep 17 00:00:00 2001
From: Anton Babushkin <anton.babushkin@me.com>
Date: Mon, 7 Apr 2014 22:36:28 +0400
Subject: mavlink: REQUEST_DATA_STREAM hadling implemented

---
 src/modules/mavlink/mavlink_main.h | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

(limited to 'src/modules/mavlink/mavlink_main.h')

diff --git a/src/modules/mavlink/mavlink_main.h b/src/modules/mavlink/mavlink_main.h
index 5a118a0ad..427b9ad35 100644
--- a/src/modules/mavlink/mavlink_main.h
+++ b/src/modules/mavlink/mavlink_main.h
@@ -194,6 +194,8 @@ public:
 
 	mavlink_channel_t get_channel();
 
+	void configure_stream_threadsafe(const char *stream_name, const float rate);
+
 	bool		_task_should_exit;		/**< if true, mavlink task should exit */
 
 protected:
@@ -313,7 +315,6 @@ private:
 	int mavlink_open_uart(int baudrate, const char *uart_name, struct termios *uart_config_original, bool *is_usb);
 
 	int configure_stream(const char *stream_name, const float rate);
-	void configure_stream_threadsafe(const char *stream_name, const float rate);
 
 	static int	mavlink_dev_ioctl(struct file *filep, int cmd, unsigned long arg);
 
-- 
cgit v1.2.3


From 72afa2ca2bb7ce85262dd201b7620e310484f6c5 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Sun, 22 Jun 2014 18:15:40 +0200
Subject: Capture TX issues in performance counter instead of spamming console
 in mavlink app

---
 src/modules/mavlink/mavlink_main.cpp | 30 ++++++++++++++++++++++++------
 src/modules/mavlink/mavlink_main.h   |  6 ++++++
 2 files changed, 30 insertions(+), 6 deletions(-)

(limited to 'src/modules/mavlink/mavlink_main.h')

diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp
index d7cf45351..5f4236b3e 100644
--- a/src/modules/mavlink/mavlink_main.cpp
+++ b/src/modules/mavlink/mavlink_main.cpp
@@ -192,13 +192,14 @@ mavlink_send_uart_bytes(mavlink_channel_t channel, const uint8_t *ch, int length
 
 			if (buf_free < desired) {
 				/* we don't want to send anything just in half, so return */
+				instance->count_txerr();
 				return;
 			}
 		}
 
 		ssize_t ret = write(uart, ch, desired);
 		if (ret != desired) {
-			warnx("TX FAIL");
+			instance->count_txerr();
 		} else {
 			last_write_success_times[(unsigned)channel] = last_write_try_times[(unsigned)channel];
 		}
@@ -237,7 +238,8 @@ Mavlink::Mavlink() :
 	_flow_control_enabled(true),
 	_message_buffer({}),
 /* performance counters */
-	_loop_perf(perf_alloc(PC_ELAPSED, "mavlink"))
+	_loop_perf(perf_alloc(PC_ELAPSED, "mavlink_el")),
+	_txerr_perf(perf_alloc(PC_COUNT, "mavlink_txe"))
 {
 	_wpm = &_wpm_s;
 	mission.count = 0;
@@ -290,6 +292,7 @@ Mavlink::Mavlink() :
 Mavlink::~Mavlink()
 {
 	perf_free(_loop_perf);
+	perf_free(_txerr_perf);
 
 	if (_task_running) {
 		/* task wakes up every 10ms or so at the longest */
@@ -314,6 +317,12 @@ Mavlink::~Mavlink()
 	LL_DELETE(_mavlink_instances, this);
 }
 
+void
+Mavlink::count_txerr()
+{
+	perf_count(_txerr_perf);
+}
+
 void
 Mavlink::set_mode(enum MAVLINK_MODE mode)
 {
@@ -2169,11 +2178,20 @@ int Mavlink::start_helper(int argc, char *argv[])
 	/* create the instance in task context */
 	Mavlink *instance = new Mavlink();
 
-	/* this will actually only return once MAVLink exits */
-	int res = instance->task_main(argc, argv);
+	int res;
 
-	/* delete instance on main thread end */
-	delete instance;
+	if (!instance) {
+
+		/* out of memory */
+		res = -ENOMEM;
+		warnx("OUT OF MEM");
+	} else {
+		/* this will actually only return once MAVLink exits */
+		res = instance->task_main(argc, argv);
+
+		/* delete instance on main thread end */
+		delete instance;
+	}
 
 	return res;
 }
diff --git a/src/modules/mavlink/mavlink_main.h b/src/modules/mavlink/mavlink_main.h
index 40edc4b85..674efe01e 100644
--- a/src/modules/mavlink/mavlink_main.h
+++ b/src/modules/mavlink/mavlink_main.h
@@ -213,6 +213,11 @@ public:
 	bool get_wait_to_transmit() { return _wait_to_transmit; }
 	bool should_transmit() { return (!_wait_to_transmit || (_wait_to_transmit && _received_messages)); }
 
+	/**
+	 * Count a transmision error
+	 */
+	void count_txerr();
+
 protected:
 	Mavlink	*next;
 
@@ -282,6 +287,7 @@ private:
 	pthread_mutex_t _message_buffer_mutex;
 
 	perf_counter_t	_loop_perf;			/**< loop performance counter */
+	perf_counter_t	_txerr_perf;			/**< TX error counter */
 
 	/**
 	 * Send one parameter.
-- 
cgit v1.2.3


From 92adbe9216c96c53d1baa4eb1e14b4ede272c080 Mon Sep 17 00:00:00 2001
From: Don Gagne <don@thegagnes.com>
Date: Sun, 29 Jun 2014 17:47:24 -0700
Subject: Fix compiler warnings

---
 src/drivers/boards/px4fmu-v2/px4fmu2_led.c         |  2 +-
 src/drivers/ets_airspeed/ets_airspeed.cpp          |  4 +--
 src/drivers/gps/gps.cpp                            |  6 ++--
 src/drivers/hmc5883/hmc5883.cpp                    |  4 +--
 src/drivers/mkblctrl/mkblctrl.cpp                  | 19 ++++------
 src/drivers/px4fmu/fmu.cpp                         | 12 +++----
 src/drivers/px4io/px4io_serial.cpp                 |  2 +-
 src/drivers/sf0x/sf0x.cpp                          |  2 +-
 src/examples/px4_simple_app/px4_simple_app.c       |  1 +
 src/lib/geo/geo.c                                  | 33 +++++++++--------
 src/lib/geo_lookup/geo_mag_declination.c           | 31 +++++++---------
 .../attitude_estimator_ekf_params.c                |  2 +-
 .../attitude_estimator_so3_main.cpp                | 21 +++--------
 .../commander/accelerometer_calibration.cpp        |  6 ++--
 src/modules/commander/calibration_routines.cpp     |  2 +-
 src/modules/dataman/dataman.c                      |  3 +-
 .../ekf_att_pos_estimator/estimator_23states.h     |  2 +-
 src/modules/fw_pos_control_l1/landingslope.cpp     | 16 ++++-----
 src/modules/fw_pos_control_l1/landingslope.h       |  8 ++---
 src/modules/mavlink/mavlink_main.cpp               |  6 ++--
 src/modules/mavlink/mavlink_main.h                 |  4 +--
 src/modules/mavlink/mavlink_orb_subscription.cpp   |  6 ++--
 src/modules/mavlink/mavlink_stream.cpp             |  6 +++-
 src/modules/mc_pos_control/mc_pos_control_main.cpp |  3 +-
 .../position_estimator_inav_main.c                 | 41 ++++++++++------------
 src/modules/px4iofirmware/protocol.h               |  2 +-
 src/modules/px4iofirmware/px4io.c                  |  5 ++-
 src/modules/px4iofirmware/registers.c              |  3 +-
 src/modules/sensors/sensors.cpp                    |  2 +-
 src/modules/systemlib/hx_stream.c                  |  2 +-
 src/modules/systemlib/mixer/mixer_multirotor.cpp   |  4 +--
 src/modules/systemlib/otp.c                        |  2 +-
 src/modules/systemlib/param/param.c                |  2 --
 src/modules/systemlib/pwm_limit/pwm_limit.c        |  1 -
 src/systemcmds/mtd/mtd.c                           | 30 ++++++++--------
 src/systemcmds/param/param.c                       |  4 +--
 src/systemcmds/tests/test_conv.cpp                 |  2 +-
 src/systemcmds/tests/test_file.c                   |  7 ++--
 src/systemcmds/tests/test_file2.c                  | 10 +++---
 src/systemcmds/tests/test_float.c                  | 10 +++---
 src/systemcmds/tests/test_mathlib.cpp              |  4 ---
 src/systemcmds/tests/test_mixer.cpp                | 33 ++++++-----------
 src/systemcmds/tests/test_ppm_loopback.c           |  1 -
 src/systemcmds/tests/test_rc.c                     |  1 +
 src/systemcmds/tests/test_servo.c                  |  1 +
 45 files changed, 162 insertions(+), 206 deletions(-)

(limited to 'src/modules/mavlink/mavlink_main.h')

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/gps/gps.cpp b/src/drivers/gps/gps.cpp
index 8560716e9..dd505abdb 100644
--- a/src/drivers/gps/gps.cpp
+++ b/src/drivers/gps/gps.cpp
@@ -357,7 +357,7 @@ GPS::task_main()
 					}
 
 					if (!_healthy) {
-						char *mode_str = "unknown";
+						const char *mode_str = "unknown";
 
 						switch (_mode) {
 						case GPS_DRIVER_MODE_UBX:
@@ -449,7 +449,7 @@ GPS::print_info()
 
 	if (_report.timestamp_position != 0) {
 		warnx("position lock: %dD, satellites: %d, last update: %8.4fms ago", (int)_report.fix_type,
-				_report.satellites_visible, (double)(hrt_absolute_time() - _report.timestamp_position) / 1000.0f);
+				_report.satellites_visible, (double)(hrt_absolute_time() - _report.timestamp_position) / 1000.0d);
 		warnx("lat: %d, lon: %d, alt: %d", _report.lat, _report.lon, _report.alt);
 		warnx("eph: %.2fm, epv: %.2fm", (double)_report.eph, (double)_report.epv);
 		warnx("rate position: \t%6.2f Hz", (double)_Helper->get_position_update_rate());
@@ -578,7 +578,7 @@ gps_main(int argc, char *argv[])
 {
 
 	/* set to default */
-	char *device_name = GPS_DEFAULT_UART_PORT;
+	const char *device_name = GPS_DEFAULT_UART_PORT;
 	bool fake_gps = false;
 
 	/*
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_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;
diff --git a/src/examples/px4_simple_app/px4_simple_app.c b/src/examples/px4_simple_app/px4_simple_app.c
index 44e6dc7f3..4e9f099ed 100644
--- a/src/examples/px4_simple_app/px4_simple_app.c
+++ b/src/examples/px4_simple_app/px4_simple_app.c
@@ -41,6 +41,7 @@
 #include <unistd.h>
 #include <stdio.h>
 #include <poll.h>
+#include <string.h>
 
 #include <uORB/uORB.h>
 #include <uORB/topics/sensor_combined.h>
diff --git a/src/lib/geo/geo.c b/src/lib/geo/geo.c
index 9a24ff50e..212e33ff8 100644
--- a/src/lib/geo/geo.c
+++ b/src/lib/geo/geo.c
@@ -82,8 +82,8 @@ __EXPORT void map_projection_project(struct map_projection_reference_s *ref, dou
 
 __EXPORT void map_projection_reproject(struct map_projection_reference_s *ref, float x, float y, double *lat, double *lon)
 {
-	float x_rad = x / CONSTANTS_RADIUS_OF_EARTH;
-	float y_rad = y / CONSTANTS_RADIUS_OF_EARTH;
+	double x_rad = x / CONSTANTS_RADIUS_OF_EARTH;
+	double y_rad = y / CONSTANTS_RADIUS_OF_EARTH;
 	double c = sqrtf(x_rad * x_rad + y_rad * y_rad);
 	double sin_c = sin(c);
 	double cos_c = cos(c);
@@ -146,7 +146,6 @@ __EXPORT void get_vector_to_next_waypoint(double lat_now, double lon_now, double
 	double lat_next_rad = lat_next * M_DEG_TO_RAD;
 	double lon_next_rad = lon_next * M_DEG_TO_RAD;
 
-	double d_lat = lat_next_rad - lat_now_rad;
 	double d_lon = lon_next_rad - lon_now_rad;
 
 	/* conscious mix of double and float trig function to maximize speed and efficiency */
@@ -174,8 +173,8 @@ __EXPORT void add_vector_to_global_position(double lat_now, double lon_now, floa
 	double lat_now_rad = lat_now * M_DEG_TO_RAD;
 	double lon_now_rad = lon_now * M_DEG_TO_RAD;
 
-	*lat_res = (lat_now_rad + v_n / CONSTANTS_RADIUS_OF_EARTH) * M_RAD_TO_DEG;
-	*lon_res = (lon_now_rad + v_e / (CONSTANTS_RADIUS_OF_EARTH * cos(lat_now_rad))) * M_RAD_TO_DEG;
+	*lat_res = (lat_now_rad + (double)v_n / CONSTANTS_RADIUS_OF_EARTH) * M_RAD_TO_DEG;
+	*lon_res = (lon_now_rad + (double)v_e / (CONSTANTS_RADIUS_OF_EARTH * cos(lat_now_rad))) * M_RAD_TO_DEG;
 }
 
 // Additional functions - @author Doug Weibel <douglas.weibel@colorado.edu>
@@ -197,7 +196,7 @@ __EXPORT int get_distance_to_line(struct crosstrack_error_s *crosstrack_error, d
 	crosstrack_error->bearing = 0.0f;
 
 	// Return error if arguments are bad
-	if (lat_now == 0.0d || lon_now == 0.0d || lat_start == 0.0d || lon_start == 0.0d || lat_end == 0.0d || lon_end == 0.0d) { return return_value; }
+	if (lat_now == 0.0 || lon_now == 0.0 || lat_start == 0.0 || lon_start == 0.0 || lat_end == 0.0d || lon_end == 0.0d) { return return_value; }
 
 	bearing_end = get_bearing_to_next_waypoint(lat_now, lon_now, lat_end, lon_end);
 	bearing_track = get_bearing_to_next_waypoint(lat_start, lon_start, lat_end, lon_end);
@@ -212,7 +211,7 @@ __EXPORT int get_distance_to_line(struct crosstrack_error_s *crosstrack_error, d
 	}
 
 	dist_to_end = get_distance_to_next_waypoint(lat_now, lon_now, lat_end, lon_end);
-	crosstrack_error->distance = (dist_to_end) * sin(bearing_diff);
+	crosstrack_error->distance = (dist_to_end) * sinf(bearing_diff);
 
 	if (sin(bearing_diff) >= 0) {
 		crosstrack_error->bearing = _wrap_pi(bearing_track - M_PI_2_F);
@@ -248,7 +247,7 @@ __EXPORT int get_distance_to_arc(struct crosstrack_error_s *crosstrack_error, do
 	crosstrack_error->bearing = 0.0f;
 
 	// Return error if arguments are bad
-	if (lat_now == 0.0d || lon_now == 0.0d || lat_center == 0.0d || lon_center == 0.0d || radius == 0.0d) { return return_value; }
+	if (lat_now == 0.0 || lon_now == 0.0 || lat_center == 0.0 || lon_center == 0.0 || radius == 0.0f) { return return_value; }
 
 
 	if (arc_sweep >= 0) {
@@ -296,14 +295,14 @@ __EXPORT int get_distance_to_arc(struct crosstrack_error_s *crosstrack_error, do
 		// as this function generally will not be called repeatedly when we are out of the sector.
 
 		// TO DO - this is messed up and won't compile
-		float start_disp_x = radius * sin(arc_start_bearing);
-		float start_disp_y = radius * cos(arc_start_bearing);
-		float end_disp_x = radius * sin(_wrapPI(arc_start_bearing + arc_sweep));
-		float end_disp_y = radius * cos(_wrapPI(arc_start_bearing + arc_sweep));
-		float lon_start = lon_now + start_disp_x / 111111.0d;
-		float lat_start = lat_now + start_disp_y * cos(lat_now) / 111111.0d;
-		float lon_end = lon_now + end_disp_x / 111111.0d;
-		float lat_end = lat_now + end_disp_y * cos(lat_now) / 111111.0d;
+		float start_disp_x = radius * sinf(arc_start_bearing);
+		float start_disp_y = radius * cosf(arc_start_bearing);
+		float end_disp_x = radius * sinf(_wrapPI(arc_start_bearing + arc_sweep));
+		float end_disp_y = radius * cosf(_wrapPI(arc_start_bearing + arc_sweep));
+		float lon_start = lon_now + start_disp_x / 111111.0f;
+		float lat_start = lat_now + start_disp_y * cosf(lat_now) / 111111.0f;
+		float lon_end = lon_now + end_disp_x / 111111.0f;
+		float lat_end = lat_now + end_disp_y * cosf(lat_now) / 111111.0f;
 		float dist_to_start = get_distance_to_next_waypoint(lat_now, lon_now, lat_start, lon_start);
 		float dist_to_end = get_distance_to_next_waypoint(lat_now, lon_now, lat_end, lon_end);
 
@@ -337,7 +336,7 @@ __EXPORT float get_distance_to_point_global_wgs84(double lat_now, double lon_now
 	double d_lat = x_rad - current_x_rad;
 	double d_lon = y_rad - current_y_rad;
 
-	double a = sin(d_lat / 2.0) * sin(d_lat / 2.0) + sin(d_lon / 2.0) * sin(d_lon / 2.0f) * cos(current_x_rad) * cos(x_rad);
+	double a = sin(d_lat / 2.0) * sin(d_lat / 2.0) + sin(d_lon / 2.0) * sin(d_lon / 2.0) * cos(current_x_rad) * cos(x_rad);
 	double c = 2 * atan2(sqrt(a), sqrt(1 - a));
 
 	float dxy = CONSTANTS_RADIUS_OF_EARTH * c;
diff --git a/src/lib/geo_lookup/geo_mag_declination.c b/src/lib/geo_lookup/geo_mag_declination.c
index 09eac38f4..c41d52606 100644
--- a/src/lib/geo_lookup/geo_mag_declination.c
+++ b/src/lib/geo_lookup/geo_mag_declination.c
@@ -54,24 +54,19 @@
 
 static const int8_t declination_table[13][37] = \
 {
-	46, 45, 44, 42, 41, 40, 38, 36, 33, 28, 23, 16, 10, 4, -1, -5, -9, -14, -19, -26, -33, -40, -48, -55, -61, \
-	-66, -71, -74, -75, -72, -61, -25, 22, 40, 45, 47, 46, 30, 30, 30, 30, 29, 29, 29, 29, 27, 24, 18, 11, 3, \
-	-3, -9, -12, -15, -17, -21, -26, -32, -39, -45, -51, -55, -57, -56, -53, -44, -31, -14, 0, 13, 21, 26, \
-	29, 30, 21, 22, 22, 22, 22, 22, 22, 22, 21, 18, 13, 5, -3, -11, -17, -20, -21, -22, -23, -25, -29, -35, \
-	-40, -44, -45, -44, -40, -32, -22, -12, -3, 3, 9, 14, 18, 20, 21, 16, 17, 17, 17, 17, 17, 16, 16, 16, 13, \
-	8, 0, -9, -16, -21, -24, -25, -25, -23, -20, -21, -24, -28, -31, -31, -29, -24, -17, -9, -3, 0, 4, 7, \
-	10, 13, 15, 16, 12, 13, 13, 13, 13, 13, 12, 12, 11, 9, 3, -4, -12, -19, -23, -24, -24, -22, -17, -12, -9, \
-	-10, -13, -17, -18, -16, -13, -8, -3, 0, 1, 3, 6, 8, 10, 12, 12, 10, 10, 10, 10, 10, 10, 10, 9, 9, 6, 0, -6, \
-	-14, -20, -22, -22, -19, -15, -10, -6, -2, -2, -4, -7, -8, -8, -7, -4, 0, 1, 1, 2, 4, 6, 8, 10, 10, 9, 9, 9, \
-	9, 9, 9, 8, 8, 7, 4, -1, -8, -15, -19, -20, -18, -14, -9, -5, -2, 0, 1, 0, -2, -3, -4, -3, -2, 0, 0, 0, 1, 3, 5, \
-	7, 8, 9, 8, 8, 8, 9, 9, 9, 8, 8, 6, 2, -3, -9, -15, -18, -17, -14, -10, -6, -2, 0, 1, 2, 2, 0, -1, -1, -2, -1, 0, \
-	0, 0, 0, 1, 3, 5, 7, 8, 8, 9, 9, 10, 10, 10, 10, 8, 5, 0, -5, -11, -15, -16, -15, -12, -8, -4, -1, 0, 2, 3, 2, 1, 0, \
-	0, 0, 0, 0, -1, -2, -2, -1, 0, 3, 6, 8, 6, 9, 10, 11, 12, 12, 11, 9, 5, 0, -7, -12, -15, -15, -13, -10, -7, -3, \
-	0, 1, 2, 3, 3, 3, 2, 1, 0, 0, -1, -3, -4, -5, -5, -2, 0, 3, 6, 5, 8, 11, 13, 15, 15, 14, 11, 5, -1, -9, -14, -17, \
-	-16, -14, -11, -7, -3, 0, 1, 3, 4, 5, 5, 5, 4, 3, 1, -1, -4, -7, -8, -8, -6, -2, 1, 5, 4, 8, 12, 15, 17, 18, 16, \
-	12, 5, -3, -12, -18, -20, -19, -16, -13, -8, -4, -1, 1, 4, 6, 8, 9, 9, 9, 7, 3, -1, -6, -10, -12, -11, -9, -5, \
-	0, 4, 3, 9, 14, 17, 20, 21, 19, 14, 4, -8, -19, -25, -26, -25, -21, -17, -12, -7, -2, 1, 5, 9, 13, 15, 16, 16, \
-	13, 7, 0, -7, -12, -15, -14, -11, -6, -1, 3
+	{ 46, 45, 44, 42, 41, 40, 38, 36, 33, 28, 23, 16, 10, 4, -1, -5, -9, -14, -19, -26, -33, -40, -48, -55, -61, -66, -71, -74, -75, -72, -61, -25, 22, 40, 45, 47, 46 },
+    { 30, 30, 30, 30, 29, 29, 29, 29, 27, 24, 18, 11, 3, -3, -9, -12, -15, -17, -21, -26, -32, -39, -45, -51, -55, -57, -56, -53, -44, -31, -14, 0, 13, 21, 26, 29, 30 },
+    { 21, 22, 22, 22, 22, 22, 22, 22, 21, 18, 13, 5, -3, -11, -17, -20, -21, -22, -23, -25, -29, -35, -40, -44, -45, -44, -40, -32, -22, -12, -3, 3, 9, 14, 18, 20, 21 },
+    { 16, 17, 17, 17, 17, 17, 16, 16, 16, 13, 8, 0, -9, -16, -21, -24, -25, -25, -23, -20, -21, -24, -28, -31, -31, -29, -24, -17, -9, -3, 0, 4, 7, 10, 13, 15, 16 },
+    { 12, 13, 13, 13, 13, 13, 12, 12, 11, 9, 3, -4, -12, -19, -23, -24, -24, -22, -17, -12, -9, -10, -13, -17, -18, -16, -13, -8, -3, 0, 1, 3, 6, 8, 10, 12, 12 },
+    { 10, 10, 10, 10, 10, 10, 10, 9, 9, 6, 0, -6, -14, -20, -22, -22, -19, -15, -10, -6, -2, -2, -4, -7, -8, -8, -7, -4, 0, 1, 1, 2, 4, 6, 8, 10, 10 },
+    { 9, 9, 9, 9, 9, 9, 8, 8, 7, 4, -1, -8, -15, -19, -20, -18, -14, -9, -5, -2, 0, 1, 0, -2, -3, -4, -3, -2, 0, 0, 0, 1, 3, 5, 7, 8, 9 },
+    { 8, 8, 8, 9, 9, 9, 8, 8, 6, 2, -3, -9, -15, -18, -17, -14, -10, -6, -2, 0, 1, 2, 2, 0, -1, -1, -2, -1, 0, 0, 0, 0, 1, 3, 5, 7, 8 },
+    { 8, 9, 9, 10, 10, 10, 10, 8, 5, 0, -5, -11, -15, -16, -15, -12, -8, -4, -1, 0, 2, 3, 2, 1, 0, 0, 0, 0, 0, -1, -2, -2, -1, 0, 3, 6, 8 },
+    { 6, 9, 10, 11, 12, 12, 11, 9, 5, 0, -7, -12, -15, -15, -13, -10, -7, -3, 0, 1, 2, 3, 3, 3, 2, 1, 0, 0, -1, -3, -4, -5, -5, -2, 0, 3, 6 },
+    { 5, 8, 11, 13, 15, 15, 14, 11, 5, -1, -9, -14, -17, -16, -14, -11, -7, -3, 0, 1, 3, 4, 5, 5, 5, 4, 3, 1, -1, -4, -7, -8, -8, -6, -2, 1, 5 },
+    { 4, 8, 12, 15, 17, 18, 16, 12, 5, -3, -12, -18, -20, -19, -16, -13, -8, -4, -1, 1, 4, 6, 8, 9, 9, 9, 7, 3, -1, -6, -10, -12, -11, -9, -5, 0, 4 },
+    { 3, 9, 14, 17, 20, 21, 19, 14, 4, -8, -19, -25, -26, -25, -21, -17, -12, -7, -2, 1, 5, 9, 13, 15, 16, 16, 13, 7, 0, -7, -12, -15, -14, -11, -6, -1, 3 },
 };
 
 static float get_lookup_table_val(unsigned lat, unsigned lon);
diff --git a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c
index 49a892609..bc0e3b93a 100755
--- a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c
+++ b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c
@@ -101,7 +101,7 @@ int parameters_update(const struct attitude_estimator_ekf_param_handles *h, stru
 	param_get(h->r3, &(p->r[3]));
 
 	param_get(h->mag_decl, &(p->mag_decl));
-	p->mag_decl *= M_PI / 180.0f;
+	p->mag_decl *= M_PI_F / 180.0f;
 
 	param_get(h->acc_comp, &(p->acc_comp));
 
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 e55b01160..e49027e47 100755
--- a/src/modules/attitude_estimator_so3/attitude_estimator_so3_main.cpp
+++ b/src/modules/attitude_estimator_so3/attitude_estimator_so3_main.cpp
@@ -392,8 +392,6 @@ void NonlinearSO3AHRSupdate(float gx, float gy, float gz, float ax, float ay, fl
  */
 int attitude_estimator_so3_thread_main(int argc, char *argv[])
 {
-	const unsigned int loop_interval_alarm = 6500;	// loop interval in microseconds
-
 	//! Time constant
 	float dt = 0.005f;
 	
@@ -438,11 +436,9 @@ int attitude_estimator_so3_thread_main(int argc, char *argv[])
 	orb_advert_t att_pub = orb_advertise(ORB_ID(vehicle_attitude), &att);
 
 	int loopcounter = 0;
-	int printcounter = 0;
 
 	thread_running = true;
 
-	float sensor_update_hz[3] = {0.0f, 0.0f, 0.0f};
 	// XXX write this out to perf regs
 
 	/* keep track of sensor updates */
@@ -513,7 +509,7 @@ int attitude_estimator_so3_thread_main(int argc, char *argv[])
 						gyro_offsets[0] /= offset_count;
 						gyro_offsets[1] /= offset_count;
 						gyro_offsets[2] /= offset_count;
-						warnx("gyro initialized, offsets: %.5f %.5f %.5f", gyro_offsets[0], gyro_offsets[1], gyro_offsets[2]);
+						warnx("gyro initialized, offsets: %.5f %.5f %.5f", (double)gyro_offsets[0], (double)gyro_offsets[1], (double)gyro_offsets[2]);
 					}
 
 				} else {
@@ -523,12 +519,9 @@ int attitude_estimator_so3_thread_main(int argc, char *argv[])
 					/* Calculate data time difference in seconds */
 					dt = (raw.timestamp - last_measurement) / 1000000.0f;
 					last_measurement = raw.timestamp;
-					uint8_t update_vect[3] = {0, 0, 0};
 
 					/* Fill in gyro measurements */
 					if (sensor_last_timestamp[0] != raw.timestamp) {
-						update_vect[0] = 1;
-						sensor_update_hz[0] = 1e6f / (raw.timestamp - sensor_last_timestamp[0]);
 						sensor_last_timestamp[0] = raw.timestamp;
 					}
 
@@ -538,8 +531,6 @@ int attitude_estimator_so3_thread_main(int argc, char *argv[])
 
 					/* update accelerometer measurements */
 					if (sensor_last_timestamp[1] != raw.accelerometer_timestamp) {
-						update_vect[1] = 1;
-						sensor_update_hz[1] = 1e6f / (raw.timestamp - sensor_last_timestamp[1]);
 						sensor_last_timestamp[1] = raw.accelerometer_timestamp;
 					}
 
@@ -549,8 +540,6 @@ int attitude_estimator_so3_thread_main(int argc, char *argv[])
 
 					/* update magnetometer measurements */
 					if (sensor_last_timestamp[2] != raw.magnetometer_timestamp) {
-						update_vect[2] = 1;
-						sensor_update_hz[2] = 1e6f / (raw.timestamp - sensor_last_timestamp[2]);
 						sensor_last_timestamp[2] = raw.magnetometer_timestamp;
 					}
 
@@ -569,8 +558,6 @@ int attitude_estimator_so3_thread_main(int argc, char *argv[])
 						continue;
 					}
 
-					uint64_t timing_start = hrt_absolute_time();
-
 					// NOTE : Accelerometer is reversed.
 					// Because proper mount of PX4 will give you a reversed accelerometer readings.
 					NonlinearSO3AHRSupdate(gyro[0], gyro[1], gyro[2],
@@ -609,9 +596,9 @@ int attitude_estimator_so3_thread_main(int argc, char *argv[])
 						/* due to inputs or numerical failure the output is invalid, skip it */
 						// Due to inputs or numerical failure the output is invalid
 						warnx("infinite euler angles, rotation matrix:");
-						warnx("%.3f %.3f %.3f", Rot_matrix[0], Rot_matrix[1], Rot_matrix[2]);
-						warnx("%.3f %.3f %.3f", Rot_matrix[3], Rot_matrix[4], Rot_matrix[5]);
-						warnx("%.3f %.3f %.3f", Rot_matrix[6], Rot_matrix[7], Rot_matrix[8]);
+						warnx("%.3f %.3f %.3f", (double)Rot_matrix[0], (double)Rot_matrix[1], (double)Rot_matrix[2]);
+						warnx("%.3f %.3f %.3f", (double)Rot_matrix[3], (double)Rot_matrix[4], (double)Rot_matrix[5]);
+						warnx("%.3f %.3f %.3f", (double)Rot_matrix[6], (double)Rot_matrix[7], (double)Rot_matrix[8]);
 						// Don't publish anything
 						continue;
 					}
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/dataman/dataman.c b/src/modules/dataman/dataman.c
index 1a65313e8..406293bda 100644
--- a/src/modules/dataman/dataman.c
+++ b/src/modules/dataman/dataman.c
@@ -50,6 +50,7 @@
 #include <string.h>
 
 #include "dataman.h"
+#include <systemlib/param/param.h>
 
 /**
  * data manager app start / stop handling function
@@ -187,7 +188,7 @@ create_work_item(void)
 		if (item) {
 			item->first = 1;
 			lock_queue(&g_free_q);
-			for (int i = 1; i < k_work_item_allocation_chunk_size; i++) {
+			for (size_t i = 1; i < k_work_item_allocation_chunk_size; i++) {
 				(item + i)->first = 0;
 				sq_addfirst(&(item + i)->link, &(g_free_q.q));
 			}
diff --git a/src/modules/ekf_att_pos_estimator/estimator_23states.h b/src/modules/ekf_att_pos_estimator/estimator_23states.h
index 7aad849f9..15ceb57c0 100644
--- a/src/modules/ekf_att_pos_estimator/estimator_23states.h
+++ b/src/modules/ekf_att_pos_estimator/estimator_23states.h
@@ -234,7 +234,7 @@ int RecallStates(float *statesForFusion, uint64_t msec);
 
 void ResetStoredStates();
 
-void quat2Tbn(Mat3f &Tbn, const float (&quat)[4]);
+void quat2Tbn(Mat3f &TBodyNed, const float (&quat)[4]);
 
 void calcEarthRateNED(Vector3f &omega, float latitude);
 
diff --git a/src/modules/fw_pos_control_l1/landingslope.cpp b/src/modules/fw_pos_control_l1/landingslope.cpp
index 8ce465fe8..42e00da05 100644
--- a/src/modules/fw_pos_control_l1/landingslope.cpp
+++ b/src/modules/fw_pos_control_l1/landingslope.cpp
@@ -46,16 +46,16 @@
 #include <unistd.h>
 #include <mathlib/mathlib.h>
 
-void Landingslope::update(float landing_slope_angle_rad,
-		float flare_relative_alt,
-		float motor_lim_relative_alt,
-		float H1_virt)
+void Landingslope::update(float landing_slope_angle_rad_new,
+		float flare_relative_alt_new,
+		float motor_lim_relative_alt_new,
+		float H1_virt_new)
 {
 
-	_landing_slope_angle_rad = landing_slope_angle_rad;
-	_flare_relative_alt = flare_relative_alt;
-	_motor_lim_relative_alt = motor_lim_relative_alt;
-	_H1_virt = H1_virt;
+	_landing_slope_angle_rad = landing_slope_angle_rad_new;
+	_flare_relative_alt = flare_relative_alt_new;
+	_motor_lim_relative_alt = motor_lim_relative_alt_new;
+	_H1_virt = H1_virt_new;
 
 	calculateSlopeValues();
 }
diff --git a/src/modules/fw_pos_control_l1/landingslope.h b/src/modules/fw_pos_control_l1/landingslope.h
index b54fd501c..a5975ad43 100644
--- a/src/modules/fw_pos_control_l1/landingslope.h
+++ b/src/modules/fw_pos_control_l1/landingslope.h
@@ -123,10 +123,10 @@ public:
 
 	float getFlareCurveAbsoluteAltitudeSave(float wp_distance, float bearing_lastwp_currwp, float bearing_airplane_currwp, float wp_altitude);
 
-	void update(float landing_slope_angle_rad,
-			float flare_relative_alt,
-			float motor_lim_relative_alt,
-			float H1_virt);
+	void update(float landing_slope_angle_rad_new,
+			float flare_relative_alt_new,
+			float motor_lim_relative_alt_new,
+			float H1_virt_new);
 
 
 	inline float landing_slope_angle_rad() {return _landing_slope_angle_rad;}
diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp
index 9a5e31ef4..43acee96f 100644
--- a/src/modules/mavlink/mavlink_main.cpp
+++ b/src/modules/mavlink/mavlink_main.cpp
@@ -2266,13 +2266,13 @@ Mavlink::start(int argc, char *argv[])
 }
 
 void
-Mavlink::status()
+Mavlink::display_status()
 {
 	warnx("running");
 }
 
 int
-Mavlink::stream(int argc, char *argv[])
+Mavlink::stream_command(int argc, char *argv[])
 {
 	const char *device_name = DEFAULT_DEVICE_NAME;
 	float rate = -1.0f;
@@ -2360,7 +2360,7 @@ int mavlink_main(int argc, char *argv[])
 		// 	mavlink::g_mavlink->status();
 
 	} else if (!strcmp(argv[1], "stream")) {
-		return Mavlink::stream(argc, argv);
+		return Mavlink::stream_command(argc, argv);
 
 	} else {
 		usage();
diff --git a/src/modules/mavlink/mavlink_main.h b/src/modules/mavlink/mavlink_main.h
index 6777d56c3..5f4117ae5 100644
--- a/src/modules/mavlink/mavlink_main.h
+++ b/src/modules/mavlink/mavlink_main.h
@@ -123,9 +123,9 @@ public:
 	/**
 	 * Display the mavlink status.
 	 */
-	void			status();
+	void			display_status();
 
-	static int		stream(int argc, char *argv[]);
+	static int		stream_command(int argc, char *argv[]);
 
 	static int		instance_count();
 
diff --git a/src/modules/mavlink/mavlink_orb_subscription.cpp b/src/modules/mavlink/mavlink_orb_subscription.cpp
index 901fa8f05..734f0903a 100644
--- a/src/modules/mavlink/mavlink_orb_subscription.cpp
+++ b/src/modules/mavlink/mavlink_orb_subscription.cpp
@@ -47,10 +47,10 @@
 #include "mavlink_orb_subscription.h"
 
 MavlinkOrbSubscription::MavlinkOrbSubscription(const orb_id_t topic) :
-	_fd(orb_subscribe(_topic)),
-	_published(false),
+	next(nullptr),
 	_topic(topic),
-	next(nullptr)
+	_fd(orb_subscribe(_topic)),
+	_published(false)
 {
 }
 
diff --git a/src/modules/mavlink/mavlink_stream.cpp b/src/modules/mavlink/mavlink_stream.cpp
index 5ec30bd33..ed6776e5c 100644
--- a/src/modules/mavlink/mavlink_stream.cpp
+++ b/src/modules/mavlink/mavlink_stream.cpp
@@ -43,7 +43,11 @@
 #include "mavlink_stream.h"
 #include "mavlink_main.h"
 
-MavlinkStream::MavlinkStream() : _interval(1000000), _last_sent(0), _channel(MAVLINK_COMM_0), next(nullptr)
+MavlinkStream::MavlinkStream() :
+	_last_sent(0),
+	_channel(MAVLINK_COMM_0),
+	_interval(1000000),
+	next(nullptr)
 {
 }
 
diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp
index 09960d106..c24c172af 100644
--- a/src/modules/mc_pos_control/mc_pos_control_main.cpp
+++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp
@@ -545,7 +545,6 @@ MulticopterPositionControl::task_main()
 	hrt_abstime t_prev = 0;
 
 	const float alt_ctl_dz = 0.2f;
-	const float pos_ctl_dz = 0.05f;
 
 	math::Vector<3> sp_move_rate;
 	sp_move_rate.zero();
@@ -862,7 +861,7 @@ MulticopterPositionControl::task_main()
 
 					if (_control_mode.flag_control_velocity_enabled) {
 						/* limit max tilt */
-						if (thr_min >= 0.0f && tilt_max < M_PI / 2 - 0.05f) {
+						if (thr_min >= 0.0f && tilt_max < M_PI_F / 2 - 0.05f) {
 							/* absolute horizontal thrust */
 							float thrust_sp_xy_len = math::Vector<2>(thrust_sp(0), thrust_sp(1)).length();
 
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 62cee145e..9870ebd05 100644
--- a/src/modules/position_estimator_inav/position_estimator_inav_main.c
+++ b/src/modules/position_estimator_inav/position_estimator_inav_main.c
@@ -179,15 +179,21 @@ int position_estimator_inav_main(int argc, char *argv[])
 	exit(1);
 }
 
-void write_debug_log(const char *msg, float dt, float x_est[2], float y_est[2], float z_est[2], float x_est_prev[2], float y_est_prev[2], float z_est_prev[2], float acc[3], float corr_gps[3][2], float w_xy_gps_p, float w_xy_gps_v)
+static void write_debug_log(const char *msg, float dt, float x_est[2], float y_est[2], float z_est[2], float x_est_prev[2], float y_est_prev[2], float z_est_prev[2], float acc[3], float corr_gps[3][2], float w_xy_gps_p, float w_xy_gps_v)
 {
 	FILE *f = fopen("/fs/microsd/inav.log", "a");
 
 	if (f) {
 		char *s = malloc(256);
-		unsigned n = snprintf(s, 256, "%llu %s\n\tdt=%.5f x_est=[%.5f %.5f] y_est=[%.5f %.5f] z_est=[%.5f %.5f] x_est_prev=[%.5f %.5f] y_est_prev=[%.5f %.5f] z_est_prev=[%.5f %.5f]\n", hrt_absolute_time(), msg, dt, x_est[0], x_est[1], y_est[0], y_est[1], z_est[0], z_est[1], x_est_prev[0], x_est_prev[1], y_est_prev[0], y_est_prev[1], z_est_prev[0], z_est_prev[1]);
+		unsigned n = snprintf(s, 256, "%llu %s\n\tdt=%.5f x_est=[%.5f %.5f] y_est=[%.5f %.5f] z_est=[%.5f %.5f] x_est_prev=[%.5f %.5f] y_est_prev=[%.5f %.5f] z_est_prev=[%.5f %.5f]\n",
+                              hrt_absolute_time(), msg, (double)dt,
+                              (double)x_est[0], (double)x_est[1], (double)y_est[0], (double)y_est[1], (double)z_est[0], (double)z_est[1],
+                              (double)x_est_prev[0], (double)x_est_prev[1], (double)y_est_prev[0], (double)y_est_prev[1], (double)z_est_prev[0], (double)z_est_prev[1]);
 		fwrite(s, 1, n, f);
-		n = snprintf(s, 256, "\tacc=[%.5f %.5f %.5f] gps_pos_corr=[%.5f %.5f %.5f] gps_vel_corr=[%.5f %.5f %.5f] w_xy_gps_p=%.5f w_xy_gps_v=%.5f\n", acc[0], acc[1], acc[2], corr_gps[0][0], corr_gps[1][0], corr_gps[2][0], corr_gps[0][1], corr_gps[1][1], corr_gps[2][1], w_xy_gps_p, w_xy_gps_v);
+		n = snprintf(s, 256, "\tacc=[%.5f %.5f %.5f] gps_pos_corr=[%.5f %.5f %.5f] gps_vel_corr=[%.5f %.5f %.5f] w_xy_gps_p=%.5f w_xy_gps_v=%.5f\n",
+                     (double)acc[0], (double)acc[1], (double)acc[2],
+                     (double)corr_gps[0][0], (double)corr_gps[1][0], (double)corr_gps[2][0], (double)corr_gps[0][1], (double)corr_gps[1][1], (double)corr_gps[2][1],
+                     (double)w_xy_gps_p, (double)w_xy_gps_v);
 		fwrite(s, 1, n, f);
 		free(s);
 	}
@@ -261,9 +267,6 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 
 	hrt_abstime t_prev = 0;
 
-	/* acceleration in NED frame */
-	float accel_NED[3] = { 0.0f, 0.0f, -CONSTANTS_ONE_G };
-
 	/* store error when sensor updates, but correct on each time step to avoid jumps in estimated value */
 	float acc[] = { 0.0f, 0.0f, 0.0f };	// N E D
 	float acc_bias[] = { 0.0f, 0.0f, 0.0f };	// body frame
@@ -285,7 +288,6 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 	hrt_abstime flow_prev = 0;			// time of last flow measurement
 	hrt_abstime sonar_time = 0;			// time of last sonar measurement (not filtered)
 	hrt_abstime sonar_valid_time = 0;	// time of last sonar measurement used for correction (filtered)
-	hrt_abstime xy_src_time = 0;		// time of last available position data
 
 	bool gps_valid = false;			// GPS is valid
 	bool sonar_valid = false;		// sonar is valid
@@ -370,8 +372,8 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 					} else {
 						wait_baro = false;
 						baro_offset /= (float) baro_init_cnt;
-						warnx("baro offs: %.2f", baro_offset);
-						mavlink_log_info(mavlink_fd, "[inav] baro offs: %.2f", baro_offset);
+						warnx("baro offs: %.2f", (double)baro_offset);
+						mavlink_log_info(mavlink_fd, "[inav] baro offs: %.2f", (double)baro_offset);
 						local_pos.z_valid = true;
 						local_pos.v_z_valid = true;
 					}
@@ -475,7 +477,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 				float flow_dt = flow_prev > 0 ? (flow.flow_timestamp - flow_prev) * 1e-6f : 0.1f;
 				flow_prev = flow.flow_timestamp;
 
-				if (flow.ground_distance_m > 0.31f && flow.ground_distance_m < 4.0f && att.R[2][2] > 0.7 && flow.ground_distance_m != sonar_prev) {
+				if (flow.ground_distance_m > 0.31f && flow.ground_distance_m < 4.0f && att.R[2][2] > 0.7f && flow.ground_distance_m != sonar_prev) {
 					sonar_time = t;
 					sonar_prev = flow.ground_distance_m;
 					corr_sonar = flow.ground_distance_m + surface_offset + z_est[0];
@@ -497,7 +499,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 							sonar_valid_time = t;
 							sonar_valid = true;
 							local_pos.surface_bottom_timestamp = t;
-							mavlink_log_info(mavlink_fd, "[inav] new surface level: %.2f", surface_offset);
+							mavlink_log_info(mavlink_fd, "[inav] new surface level: %.2f", (double)surface_offset);
 						}
 
 					} else {
@@ -510,7 +512,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 				float flow_q = flow.quality / 255.0f;
 				float dist_bottom = - z_est[0] - surface_offset;
 
-				if (dist_bottom > 0.3f && flow_q > params.flow_q_min && (t < sonar_valid_time + sonar_valid_timeout) && att.R[2][2] > 0.7) {
+				if (dist_bottom > 0.3f && flow_q > params.flow_q_min && (t < sonar_valid_time + sonar_valid_timeout) && att.R[2][2] > 0.7f) {
 					/* distance to surface */
 					float flow_dist = dist_bottom / att.R[2][2];
 					/* check if flow if too large for accurate measurements */
@@ -558,7 +560,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 					}
 
 					/* under ideal conditions, on 1m distance assume EPH = 10cm */
-					eph_flow = 0.1 / w_flow;
+					eph_flow = 0.1f / w_flow;
 
 					flow_valid = true;
 
@@ -661,8 +663,8 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 
 							/* initialize projection */
 							map_projection_init(&ref, lat, lon);
-							warnx("init ref: lat=%.7f, lon=%.7f, alt=%.2f", lat, lon, alt);
-							mavlink_log_info(mavlink_fd, "[inav] init ref: lat=%.7f, lon=%.7f, alt=%.2f", lat, lon, alt);
+							warnx("init ref: lat=%.7f, lon=%.7f, alt=%.2f", (double)lat, (double)lon, (double)alt);
+							mavlink_log_info(mavlink_fd, "[inav] init ref: lat=%.7f, lon=%.7f, alt=%.2f", (double)lat, (double)lon, (double)alt);
 						}
 					}
 
@@ -746,10 +748,10 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 
 		/* increase EPH/EPV on each step */
 		if (eph < max_eph_epv) {
-			eph *= 1.0 + dt;
+			eph *= 1.0f + dt;
 		}
 		if (epv < max_eph_epv) {
-			epv += 0.005 * dt;	// add 1m to EPV each 200s (baro drift)
+			epv += 0.005f * dt;	// add 1m to EPV each 200s (baro drift)
 		}
 
 		/* use GPS if it's valid and reference position initialized */
@@ -758,11 +760,6 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 		/* use flow if it's valid and (accurate or no GPS available) */
 		bool use_flow = flow_valid && (flow_accurate || !use_gps_xy);
 
-		/* try to estimate position during some time after position sources lost */
-		if (use_gps_xy || use_flow) {
-			xy_src_time = t;
-		}
-
 		bool can_estimate_xy = (eph < max_eph_epv) || use_gps_xy || use_flow;
 
 		bool dist_bottom_valid = (t < sonar_valid_time + sonar_valid_timeout);
diff --git a/src/modules/px4iofirmware/protocol.h b/src/modules/px4iofirmware/protocol.h
index 7471faec7..d5a6b1ec4 100644
--- a/src/modules/px4iofirmware/protocol.h
+++ b/src/modules/px4iofirmware/protocol.h
@@ -312,7 +312,7 @@ struct IOPacket {
 
 #define PKT_COUNT(_p)	((_p).count_code & PKT_COUNT_MASK)
 #define PKT_CODE(_p)	((_p).count_code & PKT_CODE_MASK)
-#define PKT_SIZE(_p)	((uint8_t *)&((_p).regs[PKT_COUNT(_p)]) - ((uint8_t *)&(_p)))
+#define PKT_SIZE(_p)	((size_t)((uint8_t *)&((_p).regs[PKT_COUNT(_p)]) - ((uint8_t *)&(_p))))
 
 static const uint8_t crc8_tab[256] __attribute__((unused)) =
 {
diff --git a/src/modules/px4iofirmware/px4io.c b/src/modules/px4iofirmware/px4io.c
index d4c25911e..cd134ccb4 100644
--- a/src/modules/px4iofirmware/px4io.c
+++ b/src/modules/px4iofirmware/px4io.c
@@ -37,6 +37,7 @@
  */
 
 #include <nuttx/config.h>
+#include <nuttx/arch.h>
 
 #include <stdio.h>	// required for task_create
 #include <stdbool.h>
@@ -303,14 +304,12 @@ user_start(int argc, char *argv[])
 		 */
 		if (hrt_absolute_time() - last_debug_time > (1000 * 1000)) {
 
-			struct mallinfo minfo = mallinfo();
-
 			isr_debug(1, "d:%u s=0x%x a=0x%x f=0x%x m=%u", 
 				  (unsigned)r_page_setup[PX4IO_P_SETUP_SET_DEBUG],
 				  (unsigned)r_status_flags,
 				  (unsigned)r_setup_arming,
 				  (unsigned)r_setup_features,
-				  (unsigned)minfo.mxordblk);
+				  (unsigned)mallinfo().mxordblk);
 			last_debug_time = hrt_absolute_time();
 		}
 	}
diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c
index db1836f4a..50108ea1b 100644
--- a/src/modules/px4iofirmware/registers.c
+++ b/src/modules/px4iofirmware/registers.c
@@ -119,7 +119,6 @@ uint16_t		r_page_raw_rc_input[] =
 	[PX4IO_P_RAW_RC_DATA]			= 0,
 	[PX4IO_P_RAW_FRAME_COUNT]		= 0,
 	[PX4IO_P_RAW_LOST_FRAME_COUNT]		= 0,
-	[PX4IO_P_RAW_RC_DATA]			= 0,
 	[PX4IO_P_RAW_RC_BASE ... (PX4IO_P_RAW_RC_BASE + PX4IO_RC_INPUT_CHANNELS)] = 0
 };
 
@@ -670,7 +669,7 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
 
 				if (conf[PX4IO_P_RC_CONFIG_ASSIGNMENT] == UINT8_MAX) {
 					disabled = true;
-				} else if ((int)(conf[PX4IO_P_RC_CONFIG_ASSIGNMENT]) < 0 || conf[PX4IO_P_RC_CONFIG_ASSIGNMENT] >= PX4IO_RC_MAPPED_CONTROL_CHANNELS) {
+				} else if (conf[PX4IO_P_RC_CONFIG_ASSIGNMENT] >= PX4IO_RC_MAPPED_CONTROL_CHANNELS) {
 					count++;
 				}
 
diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp
index 16fcb4c26..8908adf4c 100644
--- a/src/modules/sensors/sensors.cpp
+++ b/src/modules/sensors/sensors.cpp
@@ -649,7 +649,7 @@ Sensors::parameters_update()
 		if (!isfinite(tmpScaleFactor) ||
 		    (tmpRevFactor < 0.000001f) ||
 		    (tmpRevFactor > 0.2f)) {
-			warnx("RC chan %u not sane, scaling: %8.6f, rev: %d", i, tmpScaleFactor, (int)(_parameters.rev[i]));
+			warnx("RC chan %u not sane, scaling: %8.6f, rev: %d", i, (double)tmpScaleFactor, (int)(_parameters.rev[i]));
 			/* scaling factors do not make sense, lock them down */
 			_parameters.scaling_factor[i] = 0.0f;
 			rc_valid = false;
diff --git a/src/modules/systemlib/hx_stream.c b/src/modules/systemlib/hx_stream.c
index 8e9c2bfcf..52ae77de5 100644
--- a/src/modules/systemlib/hx_stream.c
+++ b/src/modules/systemlib/hx_stream.c
@@ -63,7 +63,7 @@ struct hx_stream {
 	/* TX state */
 	int			fd;
 	bool			tx_error;
-	uint8_t			*tx_buf;
+	const uint8_t		*tx_buf;
 	unsigned		tx_resid;
 	uint32_t		tx_crc;
 	enum {
diff --git a/src/modules/systemlib/mixer/mixer_multirotor.cpp b/src/modules/systemlib/mixer/mixer_multirotor.cpp
index 092c0e2b0..4b22a46d0 100644
--- a/src/modules/systemlib/mixer/mixer_multirotor.cpp
+++ b/src/modules/systemlib/mixer/mixer_multirotor.cpp
@@ -208,7 +208,6 @@ MultirotorMixer::from_text(Mixer::ControlCallback control_cb, uintptr_t cb_handl
 	char geomname[8];
 	int s[4];
 	int used;
-	const char *end = buf + buflen;
 
 	/* enforce that the mixer ends with space or a new line */
 	for (int i = buflen - 1; i >= 0; i--) {
@@ -302,7 +301,6 @@ MultirotorMixer::mix(float *outputs, unsigned space)
 	//lowsyslog("thrust: %d, get_control3: %d\n", (int)(thrust), (int)(get_control(0, 3)));
 	float		min_out = 0.0f;
 	float		max_out = 0.0f;
-	float		scale_yaw = 1.0f;
 
 	/* perform initial mix pass yielding unbounded outputs, ignore yaw */
 	for (unsigned i = 0; i < _rotor_count; i++) {
@@ -327,7 +325,7 @@ MultirotorMixer::mix(float *outputs, unsigned space)
 	}
 
 	/* scale down roll/pitch controls if some outputs are negative, don't add yaw, keep total thrust */
-	if (min_out < 0.0) {
+	if (min_out < 0.0f) {
 		float scale_in = thrust / (thrust - min_out);
 
 		/* mix again with adjusted controls */
diff --git a/src/modules/systemlib/otp.c b/src/modules/systemlib/otp.c
index 695574fdc..0548a9f7d 100644
--- a/src/modules/systemlib/otp.c
+++ b/src/modules/systemlib/otp.c
@@ -133,7 +133,7 @@ int lock_otp(void)
 
 
 // COMPLETE, BUSY, or other flash error?
-int F_GetStatus(void)
+static int F_GetStatus(void)
 {
 	int fs = F_COMPLETE;
 
diff --git a/src/modules/systemlib/param/param.c b/src/modules/systemlib/param/param.c
index 7a499ca72..e44e6cdb0 100644
--- a/src/modules/systemlib/param/param.c
+++ b/src/modules/systemlib/param/param.c
@@ -96,8 +96,6 @@ ORB_DEFINE(parameter_update, struct parameter_update_s);
 /** parameter update topic handle */
 static orb_advert_t param_topic = -1;
 
-static sem_t param_sem = { .semcount = 1 };
-
 /** lock the parameter store */
 static void
 param_lock(void)
diff --git a/src/modules/systemlib/pwm_limit/pwm_limit.c b/src/modules/systemlib/pwm_limit/pwm_limit.c
index ea5ba9e52..c733a53d7 100644
--- a/src/modules/systemlib/pwm_limit/pwm_limit.c
+++ b/src/modules/systemlib/pwm_limit/pwm_limit.c
@@ -97,7 +97,6 @@ void pwm_limit_calc(const bool armed, const unsigned num_channels, const uint16_
 	}
 
 	unsigned progress;
-	uint16_t temp_pwm;
 
 	/* then set effective_pwm based on state */
 	switch (limit->state) {
diff --git a/src/systemcmds/mtd/mtd.c b/src/systemcmds/mtd/mtd.c
index fcc9b8366..a925cdd40 100644
--- a/src/systemcmds/mtd/mtd.c
+++ b/src/systemcmds/mtd/mtd.c
@@ -91,7 +91,7 @@ static void	mtd_test(void);
 static void	mtd_erase(char *partition_names[], unsigned n_partitions);
 static void	mtd_readtest(char *partition_names[], unsigned n_partitions);
 static void	mtd_rwtest(char *partition_names[], unsigned n_partitions);
-static void	mtd_print_info();
+static void	mtd_print_info(void);
 static int	mtd_get_geometry(unsigned long *blocksize, unsigned long *erasesize, unsigned long *neraseblocks, 
 	unsigned *blkpererase, unsigned *nblocks, unsigned *partsize, unsigned n_partitions);
 
@@ -104,6 +104,16 @@ static unsigned n_partitions_current = 0;
 static char *partition_names_default[] = {"/fs/mtd_params", "/fs/mtd_waypoints"};
 static const int n_partitions_default = sizeof(partition_names_default) / sizeof(partition_names_default[0]);
 
+static void
+mtd_status(void)
+{
+	if (!attached)
+		errx(1, "MTD driver not started");
+    
+	mtd_print_info();
+	exit(0);
+}
+
 int mtd_main(int argc, char *argv[])
 {
 	if (argc >= 2) {
@@ -355,7 +365,7 @@ static ssize_t mtd_get_partition_size(void)
 	return partsize;
 }
 
-void mtd_print_info()
+void mtd_print_info(void)
 {
 	if (!attached)
 		exit(1);
@@ -385,16 +395,6 @@ mtd_test(void)
 	exit(1);
 }
 
-void
-mtd_status(void)
-{
-	if (!attached)
-		errx(1, "MTD driver not started");
-
-	mtd_print_info();
-	exit(0);
-}
-
 void
 mtd_erase(char *partition_names[], unsigned n_partitions)
 {
@@ -428,7 +428,7 @@ mtd_readtest(char *partition_names[], unsigned n_partitions)
 
 	uint8_t v[128];
 	for (uint8_t i = 0; i < n_partitions; i++) {
-		uint32_t count = 0;
+		ssize_t count = 0;
 		printf("reading %s expecting %u bytes\n", partition_names[i], expected_size);
 		int fd = open(partition_names[i], O_RDONLY);
 		if (fd == -1) {
@@ -459,8 +459,8 @@ mtd_rwtest(char *partition_names[], unsigned n_partitions)
 
 	uint8_t v[128], v2[128];
 	for (uint8_t i = 0; i < n_partitions; i++) {
-		uint32_t count = 0;
-                off_t offset = 0;
+		ssize_t count = 0;
+        off_t offset = 0;
 		printf("rwtest %s testing %u bytes\n", partition_names[i], expected_size);
 		int fd = open(partition_names[i], O_RDWR);
 		if (fd == -1) {
diff --git a/src/systemcmds/param/param.c b/src/systemcmds/param/param.c
index d92ee88ef..328205e29 100644
--- a/src/systemcmds/param/param.c
+++ b/src/systemcmds/param/param.c
@@ -63,7 +63,7 @@ static void	do_show(const char* search_string);
 static void	do_show_print(void *arg, param_t param);
 static void	do_set(const char* name, const char* val, bool fail_on_not_found);
 static void	do_compare(const char* name, const char* vals[], unsigned comparisons);
-static void	do_reset();
+static void	do_reset(void);
 
 int
 param_main(int argc, char *argv[])
@@ -416,7 +416,7 @@ do_compare(const char* name, const char* vals[], unsigned comparisons)
 }
 
 static void
-do_reset()
+do_reset(void)
 {
 	param_reset_all();
 
diff --git a/src/systemcmds/tests/test_conv.cpp b/src/systemcmds/tests/test_conv.cpp
index 50dece816..0ecdc8eb9 100644
--- a/src/systemcmds/tests/test_conv.cpp
+++ b/src/systemcmds/tests/test_conv.cpp
@@ -65,7 +65,7 @@ int test_conv(int argc, char *argv[])
 		float f = i/10000.0f;
 		float fres = REG_TO_FLOAT(FLOAT_TO_REG(f));
 		if (fabsf(f - fres) > 0.0001f) {
-			warnx("conversion fail: input: %8.4f, intermediate: %d, result: %8.4f", f, REG_TO_SIGNED(FLOAT_TO_REG(f)), fres);
+			warnx("conversion fail: input: %8.4f, intermediate: %d, result: %8.4f", f, REG_TO_SIGNED(FLOAT_TO_REG(f)), (double)fres);
 			return 1;
 		}
 	}
diff --git a/src/systemcmds/tests/test_file.c b/src/systemcmds/tests/test_file.c
index 96be1e8df..86f23b485 100644
--- a/src/systemcmds/tests/test_file.c
+++ b/src/systemcmds/tests/test_file.c
@@ -102,7 +102,7 @@ test_file(int argc, char *argv[])
 	}
 
 	/* perform tests for a range of chunk sizes */
-	unsigned chunk_sizes[] = {1, 5, 8, 13, 16, 32, 33, 64, 70, 128, 133, 256, 300, 512, 555, 1024, 1500};
+	int chunk_sizes[] = {1, 5, 8, 13, 16, 32, 33, 64, 70, 128, 133, 256, 300, 512, 555, 1024, 1500};
 
 	for (unsigned c = 0; c < (sizeof(chunk_sizes) / sizeof(chunk_sizes[0])); c++) {
 
@@ -116,7 +116,7 @@ test_file(int argc, char *argv[])
 			uint8_t write_buf[chunk_sizes[c] + alignments] __attribute__((aligned(64)));
 
 			/* fill write buffer with known values */
-			for (int i = 0; i < sizeof(write_buf); i++) {
+			for (size_t i = 0; i < sizeof(write_buf); i++) {
 				/* this will wrap, but we just need a known value with spacing */
 				write_buf[i] = i+11;
 			}
@@ -224,9 +224,6 @@ test_file(int argc, char *argv[])
 					return 1;
 				}
 				
-				/* compare value */
-				bool compare_ok = true;
-
 				for (int j = 0; j < chunk_sizes[c]; j++) {
 					if (read_buf[j] != write_buf[j]) {
 						warnx("COMPARISON ERROR: byte %d: %u != %u", j, (unsigned int)read_buf[j], (unsigned int)write_buf[j]);
diff --git a/src/systemcmds/tests/test_file2.c b/src/systemcmds/tests/test_file2.c
index ef555f6c3..8db3ea5ae 100644
--- a/src/systemcmds/tests/test_file2.c
+++ b/src/systemcmds/tests/test_file2.c
@@ -49,6 +49,8 @@
 #include <stdlib.h>
 #include <getopt.h>
 
+#include "tests.h"
+
 #define FLAG_FSYNC 1
 #define FLAG_LSEEK 2
 
@@ -85,9 +87,9 @@ static void test_corruption(const char *filename, uint32_t write_chunk, uint32_t
 		buffer[j] = get_value(ofs);
 		ofs++;
         }
-        if (write(fd, buffer, sizeof(buffer)) != sizeof(buffer)) {
-		printf("write failed at offset %u\n", ofs);
-		exit(1);
+        if (write(fd, buffer, sizeof(buffer)) != (int)sizeof(buffer)) {
+            printf("write failed at offset %u\n", ofs);
+            exit(1);
         }
 	if (flags & FLAG_FSYNC) {
 		fsync(fd);
@@ -116,7 +118,7 @@ static void test_corruption(const char *filename, uint32_t write_chunk, uint32_t
 			printf("read ofs=%u\r", ofs);
 		}
 		counter++;
-		if (read(fd, buffer, sizeof(buffer)) != sizeof(buffer)) {
+		if (read(fd, buffer, sizeof(buffer)) != (int)sizeof(buffer)) {
 			printf("read failed at offset %u\n", ofs);
 			exit(1);
 		}
diff --git a/src/systemcmds/tests/test_float.c b/src/systemcmds/tests/test_float.c
index 4921c9bbb..e33cc6ef7 100644
--- a/src/systemcmds/tests/test_float.c
+++ b/src/systemcmds/tests/test_float.c
@@ -94,7 +94,7 @@ int test_float(int argc, char *argv[])
 		printf("\t success: asinf(1.0f) == 1.57079f\n");
 
 	} else {
-		printf("\t FAIL: asinf(1.0f) != 1.57079f, result: %f\n", asinf_one);
+		printf("\t FAIL: asinf(1.0f) != 1.57079f, result: %f\n", (double)asinf_one);
 		ret = -1;
 	}
 
@@ -128,7 +128,7 @@ int test_float(int argc, char *argv[])
 
 	float sinf_zero_one = sinf(0.1f);
 
-	if (fabs(sinf_zero_one - 0.0998334166f) < FLT_EPSILON) {
+	if (fabsf(sinf_zero_one - 0.0998334166f) < FLT_EPSILON) {
 		printf("\t success: sinf(0.1f) == 0.09983f\n");
 
 	} else {
@@ -155,7 +155,7 @@ int test_float(int argc, char *argv[])
 	}
 
 	char sbuf[30];
-	sprintf(sbuf, "%8.4f", 0.553415f);
+	sprintf(sbuf, "%8.4f", (double)0.553415f);
 
 	if (sbuf[0] == ' ' && sbuf[1] == ' ' && sbuf[2] == '0' &&
 		sbuf[3] == '.' && sbuf[4] == '5' && sbuf[5] == '5'
@@ -166,7 +166,7 @@ int test_float(int argc, char *argv[])
 		ret = -5;
 	}
 
-	sprintf(sbuf, "%8.4f", -0.553415f);
+	sprintf(sbuf, "%8.4f", (double)-0.553415f);
 
 	if (sbuf[0] == ' ' && sbuf[1] == '-' && sbuf[2] == '0' &&
 		sbuf[3] == '.' && sbuf[4] == '5' && sbuf[5] == '5'
@@ -205,7 +205,7 @@ int test_float(int argc, char *argv[])
 		printf("\t success: (float) 1.55f == 1.55 (double)\n");
 
 	} else {
-		printf("\t FAIL: (float) 1.55f != 1.55 (double), result: %8.4f\n", f1);
+		printf("\t FAIL: (float) 1.55f != 1.55 (double), result: %8.4f\n", (double)f1);
 		ret = -8;
 	}
 
diff --git a/src/systemcmds/tests/test_mathlib.cpp b/src/systemcmds/tests/test_mathlib.cpp
index 693a208ba..00c649c75 100644
--- a/src/systemcmds/tests/test_mathlib.cpp
+++ b/src/systemcmds/tests/test_mathlib.cpp
@@ -52,10 +52,6 @@
 
 using namespace math;
 
-const char* formatResult(bool res) {
-	return res ? "OK" : "ERROR";
-}
-
 int test_mathlib(int argc, char *argv[])
 {
 	warnx("testing mathlib");
diff --git a/src/systemcmds/tests/test_mixer.cpp b/src/systemcmds/tests/test_mixer.cpp
index 0b826b826..8ab8fa2d6 100644
--- a/src/systemcmds/tests/test_mixer.cpp
+++ b/src/systemcmds/tests/test_mixer.cpp
@@ -81,7 +81,7 @@ int test_mixer(int argc, char *argv[])
 
 	warnx("testing mixer");
 
-	char *filename = "/etc/mixers/IO_pass.mix";
+	const char *filename = "/etc/mixers/IO_pass.mix";
 
 	if (argc > 1)
 		filename = argv[1];
@@ -100,8 +100,6 @@ int test_mixer(int argc, char *argv[])
 	 * e.g. on PX4IO.
 	 */
 
-	unsigned nused = 0;
-
 	const unsigned chunk_size = 64;
 
 	MixerGroup mixer_group(mixer_callback, 0);
@@ -124,7 +122,6 @@ int test_mixer(int argc, char *argv[])
 		return 1;
 
 	/* FIRST mark the mixer as invalid */
-	bool mixer_ok = false;
 	/* THEN actually delete it */
 	mixer_group.reset();
 	char mixer_text[256];		/* large enough for one mixer */
@@ -140,7 +137,6 @@ int test_mixer(int argc, char *argv[])
 
 		/* check for overflow - this would be really fatal */
 		if ((mixer_text_length + text_length + 1) > sizeof(mixer_text)) {
-			bool mixer_ok = false;
 			return 1;
 		}
 
@@ -156,15 +152,6 @@ int test_mixer(int argc, char *argv[])
 
 		/* if anything was parsed */
 		if (resid != mixer_text_length) {
-
-			/* only set mixer ok if no residual is left over */
-			if (resid == 0) {
-				mixer_ok = true;
-			} else {
-				/* not yet reached the end of the mixer, set as not ok */
-				mixer_ok = false;
-			}
-
 			warnx("used %u", mixer_text_length - resid);
 
 			/* copy any leftover text to the base of the buffer for re-use */
@@ -192,7 +179,7 @@ int test_mixer(int argc, char *argv[])
 	should_arm = true;
 
 	/* run through arming phase */
-	for (int i = 0; i < output_max; i++) {
+	for (unsigned i = 0; i < output_max; i++) {
 		actuator_controls[i] = 0.1f;
 		r_page_servo_disarmed[i] = PWM_LOWEST_MIN;
 		r_page_servo_control_min[i] = PWM_DEFAULT_MIN;
@@ -213,7 +200,7 @@ int test_mixer(int argc, char *argv[])
 		pwm_limit_calc(should_arm, mixed, r_page_servo_disarmed, r_page_servo_control_min, r_page_servo_control_max, outputs, r_page_servos, &pwm_limit);
 
 		//warnx("mixed %d outputs (max %d), values:", mixed, output_max);
-		for (int i = 0; i < mixed; i++)
+		for (unsigned i = 0; i < mixed; i++)
 		{
 			/* check mixed outputs to be zero during init phase */
 			if (hrt_elapsed_time(&starttime) < INIT_TIME_US &&
@@ -228,7 +215,7 @@ int test_mixer(int argc, char *argv[])
 				return 1;
 			}
 
-			//printf("\t %d: %8.4f limited: %8.4f, servo: %d\n", i, outputs_unlimited[i], outputs[i], (int)r_page_servos[i]);
+			//printf("\t %d: %8.4f limited: %8.4f, servo: %d\n", i, (double)outputs_unlimited[i], (double)outputs[i], (int)r_page_servos[i]);
 		}
 		usleep(sleep_quantum_us);
 		sleepcount++;
@@ -244,7 +231,7 @@ int test_mixer(int argc, char *argv[])
 
 	for (int j = -jmax; j <= jmax; j++) {
 
-		for (int i = 0; i < output_max; i++) {
+		for (unsigned i = 0; i < output_max; i++) {
 			actuator_controls[i] = j/10.0f + 0.1f * i;
 			r_page_servo_disarmed[i] = PWM_LOWEST_MIN;
 			r_page_servo_control_min[i] = PWM_DEFAULT_MIN;
@@ -257,11 +244,11 @@ int test_mixer(int argc, char *argv[])
 		pwm_limit_calc(should_arm, mixed, r_page_servo_disarmed, r_page_servo_control_min, r_page_servo_control_max, outputs, r_page_servos, &pwm_limit);
 
 		warnx("mixed %d outputs (max %d)", mixed, output_max);
-		for (int i = 0; i < mixed; i++)
+		for (unsigned i = 0; i < mixed; i++)
 		{
 			servo_predicted[i] = 1500 + outputs[i] * (r_page_servo_control_max[i] - r_page_servo_control_min[i]) / 2.0f;
 			if (fabsf(servo_predicted[i] - r_page_servos[i]) > 2) {
-				printf("\t %d: %8.4f predicted: %d, servo: %d\n", i, outputs[i], servo_predicted[i], (int)r_page_servos[i]);
+				printf("\t %d: %8.4f predicted: %d, servo: %d\n", i, (double)outputs[i], servo_predicted[i], (int)r_page_servos[i]);
 				warnx("mixer violated predicted value");
 				return 1;
 			}
@@ -282,7 +269,7 @@ int test_mixer(int argc, char *argv[])
 		pwm_limit_calc(should_arm, mixed, r_page_servo_disarmed, r_page_servo_control_min, r_page_servo_control_max, outputs, r_page_servos, &pwm_limit);
 
 		//warnx("mixed %d outputs (max %d), values:", mixed, output_max);
-		for (int i = 0; i < mixed; i++)
+		for (unsigned i = 0; i < mixed; i++)
 		{
 			/* check mixed outputs to be zero during init phase */
 			if (r_page_servos[i] != r_page_servo_disarmed[i]) {
@@ -316,7 +303,7 @@ int test_mixer(int argc, char *argv[])
 		pwm_limit_calc(should_arm, mixed, r_page_servo_disarmed, r_page_servo_control_min, r_page_servo_control_max, outputs, r_page_servos, &pwm_limit);
 
 		//warnx("mixed %d outputs (max %d), values:", mixed, output_max);
-		for (int i = 0; i < mixed; i++)
+		for (unsigned i = 0; i < mixed; i++)
 		{
 			/* predict value */
 			servo_predicted[i] = 1500 + outputs[i] * (r_page_servo_control_max[i] - r_page_servo_control_min[i]) / 2.0f;
@@ -333,7 +320,7 @@ int test_mixer(int argc, char *argv[])
 			/* check post ramp phase */
 			if (hrt_elapsed_time(&starttime) > RAMP_TIME_US &&
 				fabsf(servo_predicted[i] - r_page_servos[i]) > 2) {
-				printf("\t %d: %8.4f predicted: %d, servo: %d\n", i, outputs[i], servo_predicted[i], (int)r_page_servos[i]);
+				printf("\t %d: %8.4f predicted: %d, servo: %d\n", i, (double)outputs[i], servo_predicted[i], (int)r_page_servos[i]);
 				warnx("mixer violated predicted value");
 				return 1;
 			}
diff --git a/src/systemcmds/tests/test_ppm_loopback.c b/src/systemcmds/tests/test_ppm_loopback.c
index b9041b013..addd57bea 100644
--- a/src/systemcmds/tests/test_ppm_loopback.c
+++ b/src/systemcmds/tests/test_ppm_loopback.c
@@ -65,7 +65,6 @@ int test_ppm_loopback(int argc, char *argv[])
 	int _rc_sub = orb_subscribe(ORB_ID(input_rc));
 
 	int servo_fd, result;
-	servo_position_t data[PWM_OUTPUT_MAX_CHANNELS];
 	servo_position_t pos;
 
 	servo_fd = open(PWM_OUTPUT_DEVICE_PATH, O_RDWR);
diff --git a/src/systemcmds/tests/test_rc.c b/src/systemcmds/tests/test_rc.c
index 57c0e7f4c..c9f9ef439 100644
--- a/src/systemcmds/tests/test_rc.c
+++ b/src/systemcmds/tests/test_rc.c
@@ -52,6 +52,7 @@
 #include <arch/board/board.h>
 #include <drivers/drv_pwm_output.h>
 #include <drivers/drv_rc_input.h>
+#include <drivers/drv_hrt.h>
 #include <systemlib/err.h>
 
 #include "tests.h"
diff --git a/src/systemcmds/tests/test_servo.c b/src/systemcmds/tests/test_servo.c
index ef8512bf5..9c6951ca2 100644
--- a/src/systemcmds/tests/test_servo.c
+++ b/src/systemcmds/tests/test_servo.c
@@ -51,6 +51,7 @@
 
 #include <arch/board/board.h>
 #include <drivers/drv_pwm_output.h>
+#include <systemlib/err.h>
 
 #include <nuttx/spi.h>
 
-- 
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