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>

makefiles/posix-arm/config_eagle_default.mk

@@ -49,7 +49,7 @@ MODULES		+= modules/dataman
 MODULES		+= modules/sdlog2
 MODULES		+= modules/simulator
 MODULES		+= modules/commander
-#MODULES 	+= modules/controllib
+MODULES 	+= modules/controllib
 
 #
 # Libraries
@@ -63,6 +63,7 @@ MODULES		+= lib/conversion
 # Linux port
 #
 MODULES		+= platforms/posix/px4_layer
+MODULES		+= platforms/posix/work_queue
 
 #
 # Unit tests

makefiles/posix-arm/config_eagle_hil.mk

@@ -64,6 +64,7 @@ MODULES		+= lib/conversion
 # Linux port
 #
 MODULES		+= platforms/posix/px4_layer
+MODULES		+= platforms/posix/work_queue
 #MODULES		+= platforms/posix/drivers/accelsim
 #MODULES		+= platforms/posix/drivers/gyrosim
 #MODULES		+= platforms/posix/drivers/adcsim

makefiles/posix-arm/config_eagle_muorb_test.mk

@@ -63,6 +63,7 @@ MODULES		+= modules/uORB
 # Linux port
 #
 MODULES		+= platforms/posix/px4_layer
+MODULES		+= platforms/posix/work_queue
 #MODULES		+= platforms/posix/drivers/accelsim
 #MODULES		+= platforms/posix/drivers/gyrosim
 #MODULES		+= platforms/posix/drivers/adcsim

makefiles/qurt/config_qurt_default.mk

@@ -47,7 +47,7 @@ MODULES		+= modules/systemlib/mixer
 MODULES		+= modules/uORB
 #MODULES		+= modules/dataman
 #MODULES		+= modules/sdlog2
-MODULES		+= modules/simulator
+#MODULES		+= modules/simulator
 #MODULES		+= modules/commander
 
 #

src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp

@@ -47,7 +47,6 @@
 #include <poll.h>
 #include <fcntl.h>
 #include <float.h>
-#include <termios.h>
 #include <errno.h>
 #include <limits.h>
 #include <math.h>

src/modules/mc_att_control/mc_att_control_main.cpp

@@ -137,7 +137,6 @@ private:
 	int		_vehicle_status_sub;	/**< vehicle status subscription */
 	int 	_motor_limits_sub;		/**< motor limits subscription */
 
-	orb_advert_t	_att_sp_pub;			/**< attitude setpoint publication */
 	orb_advert_t	_v_rates_sp_pub;		/**< rate setpoint publication */
 	orb_advert_t	_actuators_0_pub;		/**< attitude actuator controls publication */
 	orb_advert_t	_controller_status_pub;	/**< controller status publication */
@@ -170,8 +169,6 @@ private:
 
 	math::Matrix<3, 3>  _I;				/**< identity matrix */
 
-	bool	_reset_yaw_sp;			/**< reset yaw setpoint flag */
-
 	struct {
 		param_t roll_p;
 		param_t roll_rate_p;
@@ -315,7 +312,6 @@ MulticopterAttitudeControl::MulticopterAttitudeControl() :
 	_vehicle_status_sub(-1),
 
 /* publications */
-	_att_sp_pub(nullptr),
 	_v_rates_sp_pub(nullptr),
 	_actuators_0_pub(nullptr),
 	_controller_status_pub(nullptr),

src/modules/muorb/adsp/uORBFastRpcChannel.cpp

@@ -457,7 +457,7 @@ int16_t uORB::FastRpcChannel::get_bulk_data
 	}
 
 	if (topic_count_to_return != *topic_count) {
-		PX4_WARN("Not sending all topics: topics_to_return:[%d] topics_returning:[%d]", topic_count_to_return, *topic_count);
+		PX4_WARN("Not sending all topics: topics_to_return:[%ld] topics_returning:[%ld]", topic_count_to_return, *topic_count);
 	}
 
 	_QueueMutex.unlock();
@@ -539,7 +539,7 @@ int32_t uORB::FastRpcChannel::copy_data_to_buffer(int32_t src_index, uint8_t *ds
 
 	} else {
 		PX4_WARN("Error coping the DataMsg to dst buffer, insuffienct space. ");
-		PX4_WARN("... offset[%d] len[%d] data_msg_len[%d]",
+		PX4_WARN("... offset[%ld] len[%ld] data_msg_len[%ld]",
 			 offset, dst_buffer_len, (field_data_offset - offset) + _DataMsgQueue[ src_index ]._Length);
 	}
 

src/modules/position_estimator_inav/position_estimator_inav_main.c

@@ -46,8 +46,6 @@
 #include <fcntl.h>
 #include <string.h>
 #include <px4_config.h>
-#include <sys/prctl.h>
-#include <termios.h>
 #include <math.h>
 #include <float.h>
 #include <uORB/uORB.h>
@@ -192,6 +190,7 @@ static void write_debug_log(const char *msg, float dt, float x_est[2], float y_e
 	float corr_vision[3][2], float w_xy_vision_p, float w_z_vision_p, float w_xy_vision_v)
 {
 	return;
+#ifndef __PX4_QURT
 	FILE *f = fopen(PX4_ROOTFSDIR"/fs/microsd/inav.log", "a");
 
 	if (f) {
@@ -215,6 +214,7 @@ static void write_debug_log(const char *msg, float dt, float x_est[2], float y_e
 
 	fsync(fileno(f));
 	fclose(f);
+#endif
 }
 
 /****************************************************************************

src/modules/simulator/simulator.h

@@ -210,8 +210,9 @@ private:
 	_baro_pub(nullptr),
 	_gyro_pub(nullptr),
 	_mag_pub(nullptr),
-	_initialized(false),
+	_initialized(false)
 #ifndef __PX4_QURT
+	,
 	_rc_channels_pub(nullptr),
 	_actuator_outputs_sub(-1),
 	_vehicle_attitude_sub(-1),

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);