Fixes for posix-arm and qurt builds

Ifdefed out deadcode in position_estimator_inav_main.c as the
deadcode does not compile for qurt.

Added fixes to get a successful build for posix-arm and qurt targets.
Removed CLOCK_REALTIME def from px4_time.h for qurt and removed unused
variables in att_est_q and mc_att_control.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>

src/platforms/posix/px4_layer/px4_posix_tasks.cpp

@@ -54,6 +54,7 @@
 #include <string>
 
 #include <px4_tasks.h>
+#include <px4_posix.h>
 
 #define MAX_CMD_LEN 100
 

src/platforms/px4_time.h

@@ -12,8 +12,6 @@
 
 #include <sys/timespec.h>
 
-#define CLOCK_REALTIME 1
-
 __BEGIN_DECLS
 
 #if 0

src/platforms/px4_workqueue.h

@@ -46,6 +46,10 @@
 #include <stdint.h>
 #include <queue.h>
 
+#ifdef __PX4_QURT
+   #include <dspal_types.h>
+#endif
+
 __BEGIN_DECLS
 
 #define HPWORK 0

src/platforms/qurt/px4_layer/px4_qurt_tasks.cpp

@@ -278,7 +278,7 @@ void px4_show_tasks()
 	for (idx=0; idx < PX4_MAX_TASKS; idx++)
 	{
 		if (taskmap[idx].isused) {
-			PX4_INFO("   %-10s %lu", taskmap[idx].name.c_str(), taskmap[idx].pid);
+			PX4_INFO("   %-10s %d", taskmap[idx].name.c_str(), taskmap[idx].pid);
 			count++;
 		}
 	}

src/platforms/qurt/tests/muorb/muorb_test_example.cpp

@@ -96,7 +96,7 @@ int MuorbTestExample::DefaultTest()
 		orb_publish(ORB_ID(pwm_input), pub_fd, &pwm);
 		orb_publish(ORB_ID(sensor_combined), pub_sc, &sc);
 
-		sleep(1);
+		usleep(1000000);
 		++i;
 	}
 
@@ -194,6 +194,7 @@ int MuorbTestExample::FileReadTest()
 		rc = PX4_ERROR;
 
 	} else {
+		/*
 		int i = 0;
 		while( ( read = getline( &line, &len, fp ) ) != -1 )
 		{
@@ -201,6 +202,7 @@ int MuorbTestExample::FileReadTest()
 			PX4_INFO( "LineNum[%d] LineLength[%d]", i, len );
 			PX4_INFO( "LineNum[%d] Line[%s]", i, line );
 		}
+		*/
 		PX4_INFO("Successfully opened file [%s]", TEST_FILE_PATH);
 		fclose(fp);