From e57579fa21ce9be189475e41fbcdb961d7cd32d2 Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Thu, 10 Jul 2014 17:08:23 +0200 Subject: mavlink, navigator: compile errors/warnings fixed --- src/modules/mavlink/mavlink_main.cpp | 4 ++-- src/modules/mavlink/mavlink_mission.cpp | 2 +- src/modules/navigator/mission.cpp | 12 ++++-------- 3 files changed, 7 insertions(+), 11 deletions(-) (limited to 'src/modules') diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp index 5c7eefa98..0d685c3d8 100644 --- a/src/modules/mavlink/mavlink_main.cpp +++ b/src/modules/mavlink/mavlink_main.cpp @@ -226,8 +226,9 @@ Mavlink::Mavlink() : _main_loop_delay(1000), _subscriptions(nullptr), _streams(nullptr), - _mission_result_sub(-1), + _mission_manager(nullptr), _mission_pub(-1), + _mission_result_sub(-1), _mode(MAVLINK_MODE_NORMAL), _total_counter(0), _verbose(false), @@ -245,7 +246,6 @@ Mavlink::Mavlink() : _param_component_id(0), _param_system_type(0), _param_use_hil_gps(0), - _mission_manager(nullptr), /* performance counters */ _loop_perf(perf_alloc(PC_ELAPSED, "mavlink_el")), diff --git a/src/modules/mavlink/mavlink_mission.cpp b/src/modules/mavlink/mavlink_mission.cpp index 0dda2337e..ca01344d4 100644 --- a/src/modules/mavlink/mavlink_mission.cpp +++ b/src/modules/mavlink/mavlink_mission.cpp @@ -69,9 +69,9 @@ MavlinkMissionManager::MavlinkMissionManager(Mavlink *mavlink) : _action_timeout(MAVLINK_MISSION_PROTOCOL_TIMEOUT_DEFAULT), _retry_timeout(MAVLINK_MISSION_RETRY_TIMEOUT_DEFAULT), _max_count(DM_KEY_WAYPOINTS_OFFBOARD_0_MAX), + _dataman_id(0), _count(0), _current_seq(0), - _dataman_id(0), _transfer_dataman_id(0), _transfer_count(0), _transfer_seq(0), diff --git a/src/modules/navigator/mission.cpp b/src/modules/navigator/mission.cpp index eb8dcc717..126877651 100644 --- a/src/modules/navigator/mission.cpp +++ b/src/modules/navigator/mission.cpp @@ -72,10 +72,7 @@ Mission::Mission(Navigator *navigator, const char *name) : _mission_result({0}), _mission_type(MISSION_TYPE_NONE), _inited(false), - _dist_1wp_ok(false), - _need_takeoff(true), - _takeoff(false) - + _dist_1wp_ok(false) { /* load initial params */ updateParams(); @@ -203,7 +200,7 @@ Mission::update_offboard_mission() /* Check mission feasibility, for now do not handle the return value, * however warnings are issued to the gcs via mavlink from inside the MissionFeasiblityChecker */ - dm_item_t dm_current = DM_KEY_WAYPOINTS_OFFBOARD(_transfer_dataman_id); + dm_item_t dm_current = DM_KEY_WAYPOINTS_OFFBOARD(_offboard_mission.dataman_id); missionFeasiblityChecker.checkMissionFeasible(_navigator->get_vstatus()->is_rotary_wing, dm_current, (size_t) _offboard_mission.count, _navigator->get_geofence(), @@ -252,13 +249,12 @@ Mission::check_dist_1wp() } /* check if first waypoint is not too far from home */ - bool mission_valid = false; if (_param_dist_1wp.get() > 0.0f) { if (_navigator->get_vstatus()->condition_home_position_valid) { struct mission_item_s mission_item; /* find first waypoint (with lat/lon) item in datamanager */ - for (int i = 0; i < _offboard_mission.count; i++) { + for (unsigned i = 0; i < _offboard_mission.count; i++) { if (dm_read(DM_KEY_WAYPOINTS_OFFBOARD(_offboard_mission.dataman_id), i, &mission_item, sizeof(mission_item_s)) == sizeof(mission_item_s)) { @@ -281,7 +277,7 @@ Mission::check_dist_1wp() } else { /* item is too far from home */ - mavlink_log_info(_navigator->get_mavlink_fd(), "first wp is too far from home: %.1fm > %.1fm", dist_to_1wp, _param_dist_1wp.get()); + mavlink_log_info(_navigator->get_mavlink_fd(), "first wp is too far from home: %.1fm > %.1fm", (double)dist_to_1wp, (double)_param_dist_1wp.get()); return false; } } -- cgit v1.2.3