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drivers/ins/vectornav: comment out redefined and remove -Wno-error

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This commit is contained in:
Daniel Agar
2023-04-06 14:06:57 -04:00
parent cbc067f235
commit 0fa0e2f583
4 changed files with 167 additions and 169 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/ins/vectornav/CMakeLists.txt
-1
View File
@@ -39,7 +39,6 @@ px4_add_module(
INCLUDES INCLUDES
libvnc/include libvnc/include
COMPILE_FLAGS COMPILE_FLAGS
-Wno-error
SRCS SRCS
VectorNav.cpp VectorNav.cpp
VectorNav.hpp VectorNav.hpp
src/drivers/ins/vectornav/libvnc/CMakeLists.txt
-1
View File
@@ -56,7 +56,6 @@ add_library(libvnc ${SOURCES})
add_dependencies(libvnc prebuild_targets) add_dependencies(libvnc prebuild_targets)
target_compile_options(libvnc target_compile_options(libvnc
PRIVATE PRIVATE
-Wno-error
-Wno-double-promotion -Wno-double-promotion
-Wno-pointer-sign -Wno-pointer-sign
-Wno-cast-align -Wno-cast-align
src/drivers/ins/vectornav/libvnc/src/vn/protocol/spi.c
+166 -166
View File
@@ -2,7 +2,7 @@
#include <string.h> #include <string.h>
#include "vn/util.h" #include "vn/util.h"
#define UNUSED(x) (void)(sizeof(x)) //#define UNUSED(x) (void)(sizeof(x))
VnError VnSpi_genGenericCommand( VnError VnSpi_genGenericCommand(
char cmdId, char cmdId,
@@ -103,7 +103,7 @@ VnError VnSpi_genRead(
buffer[i] = 0x00; buffer[i] = 0x00;
*size = desiredLength > 3 ? desiredLength : 3; *size = desiredLength > 3 ? desiredLength : 3;
return E_NONE; return E_NONE;
} }
@@ -324,9 +324,9 @@ VnError VnSpi_parseAttitudeQuaternion(
VnError VnSpi_parseQuaternionMagneticAccelerationAndAngularRates( VnError VnSpi_parseQuaternionMagneticAccelerationAndAngularRates(
const char* response, const char* response,
vec4f* quat, vec4f* quat,
vec3f* mag, vec3f* mag,
vec3f* accel, vec3f* accel,
vec3f* gyro) vec3f* gyro)
{ {
const char* pos = response + 3; const char* pos = response + 3;
@@ -401,8 +401,8 @@ VnError VnSpi_parseAngularRateMeasurements(
VnError VnSpi_parseMagneticAccelerationAndAngularRates( VnError VnSpi_parseMagneticAccelerationAndAngularRates(
const char* response, const char* response,
vec3f* mag, vec3f* mag,
vec3f* accel, vec3f* accel,
vec3f* gyro) vec3f* gyro)
{ {
const char* pos = response + 3; const char* pos = response + 3;
@@ -424,7 +424,7 @@ VnError VnSpi_parseMagneticAccelerationAndAngularRates(
VnError VnSpi_parseMagneticAndGravityReferenceVectors( VnError VnSpi_parseMagneticAndGravityReferenceVectors(
const char* response, const char* response,
vec3f* magRef, vec3f* magRef,
vec3f* accRef) vec3f* accRef)
{ {
const char* pos = response + 3; const char* pos = response + 3;
@@ -444,9 +444,9 @@ VnError VnSpi_parseMagneticAndGravityReferenceVectors(
VnError VnSpi_parseFilterMeasurementsVarianceParameters( VnError VnSpi_parseFilterMeasurementsVarianceParameters(
const char* response, const char* response,
float* angularWalkVariance, float* angularWalkVariance,
vec3f* angularRateVariance, vec3f* angularRateVariance,
vec3f* magneticVariance, vec3f* magneticVariance,
vec3f* accelerationVariance) vec3f* accelerationVariance)
{ {
const char* pos = response + 3; const char* pos = response + 3;
@@ -470,7 +470,7 @@ VnError VnSpi_parseFilterMeasurementsVarianceParameters(
VnError VnSpi_parseMagnetometerCompensation( VnError VnSpi_parseMagnetometerCompensation(
const char* response, const char* response,
mat3f* c, mat3f* c,
vec3f* b) vec3f* b)
{ {
const char* pos = response + 3; const char* pos = response + 3;
@@ -490,9 +490,9 @@ VnError VnSpi_parseMagnetometerCompensation(
VnError VnSpi_parseFilterActiveTuningParameters( VnError VnSpi_parseFilterActiveTuningParameters(
const char* response, const char* response,
float* magneticDisturbanceGain, float* magneticDisturbanceGain,
float* accelerationDisturbanceGain, float* accelerationDisturbanceGain,
float* magneticDisturbanceMemory, float* magneticDisturbanceMemory,
float* accelerationDisturbanceMemory) float* accelerationDisturbanceMemory)
{ {
const char* pos = response + 3; const char* pos = response + 3;
@@ -516,7 +516,7 @@ VnError VnSpi_parseFilterActiveTuningParameters(
VnError VnSpi_parseAccelerationCompensation( VnError VnSpi_parseAccelerationCompensation(
const char* response, const char* response,
mat3f* c, mat3f* c,
vec3f* b) vec3f* b)
{ {
const char* pos = response + 3; const char* pos = response + 3;
@@ -553,9 +553,9 @@ VnError VnSpi_parseReferenceFrameRotation(
VnError VnSpi_parseYawPitchRollMagneticAccelerationAndAngularRates( VnError VnSpi_parseYawPitchRollMagneticAccelerationAndAngularRates(
const char* response, const char* response,
vec3f* yawPitchRoll, vec3f* yawPitchRoll,
vec3f* mag, vec3f* mag,
vec3f* accel, vec3f* accel,
vec3f* gyro) vec3f* gyro)
{ {
const char* pos = response + 3; const char* pos = response + 3;
@@ -579,12 +579,12 @@ VnError VnSpi_parseYawPitchRollMagneticAccelerationAndAngularRates(
VnError VnSpi_parseCommunicationProtocolControl( VnError VnSpi_parseCommunicationProtocolControl(
const char* response, const char* response,
uint8_t* serialCount, uint8_t* serialCount,
uint8_t* serialStatus, uint8_t* serialStatus,
uint8_t* spiCount, uint8_t* spiCount,
uint8_t* spiStatus, uint8_t* spiStatus,
uint8_t* serialChecksum, uint8_t* serialChecksum,
uint8_t* spiChecksum, uint8_t* spiChecksum,
uint8_t* errorMode) uint8_t* errorMode)
{ {
const char* pos = response + 3; const char* pos = response + 3;
@@ -614,14 +614,14 @@ VnError VnSpi_parseCommunicationProtocolControl(
VnError VnSpi_parseSynchronizationControl( VnError VnSpi_parseSynchronizationControl(
const char* response, const char* response,
uint8_t* syncInMode, uint8_t* syncInMode,
uint8_t* syncInEdge, uint8_t* syncInEdge,
uint16_t* syncInSkipFactor, uint16_t* syncInSkipFactor,
uint32_t* reserved1, uint32_t* reserved1,
uint8_t* syncOutMode, uint8_t* syncOutMode,
uint8_t* syncOutPolarity, uint8_t* syncOutPolarity,
uint16_t* syncOutSkipFactor, uint16_t* syncOutSkipFactor,
uint32_t* syncOutPulseWidth, uint32_t* syncOutPulseWidth,
uint32_t* reserved2) uint32_t* reserved2)
{ {
const char* pos = response + 3; const char* pos = response + 3;
@@ -655,8 +655,8 @@ VnError VnSpi_parseSynchronizationControl(
VnError VnSpi_parseSynchronizationStatus( VnError VnSpi_parseSynchronizationStatus(
const char* response, const char* response,
uint32_t* syncInCount, uint32_t* syncInCount,
uint32_t* syncInTime, uint32_t* syncInTime,
uint32_t* syncOutCount) uint32_t* syncOutCount)
{ {
const char* pos = response + 3; const char* pos = response + 3;
@@ -678,10 +678,10 @@ VnError VnSpi_parseSynchronizationStatus(
VnError VnSpi_parseFilterBasicControl( VnError VnSpi_parseFilterBasicControl(
const char* response, const char* response,
uint8_t* magMode, uint8_t* magMode,
uint8_t* extMagMode, uint8_t* extMagMode,
uint8_t* extAccMode, uint8_t* extAccMode,
uint8_t* extGyroMode, uint8_t* extGyroMode,
vec3f* gyroLimit) vec3f* gyroLimit)
{ {
const char* pos = response + 3; const char* pos = response + 3;
@@ -707,9 +707,9 @@ VnError VnSpi_parseFilterBasicControl(
VnError VnSpi_parseVpeBasicControl( VnError VnSpi_parseVpeBasicControl(
const char* response, const char* response,
uint8_t* enable, uint8_t* enable,
uint8_t* headingMode, uint8_t* headingMode,
uint8_t* filteringMode, uint8_t* filteringMode,
uint8_t* tuningMode) uint8_t* tuningMode)
{ {
const char* pos = response + 3; const char* pos = response + 3;
@@ -733,8 +733,8 @@ VnError VnSpi_parseVpeBasicControl(
VnError VnSpi_parseVpeMagnetometerBasicTuning( VnError VnSpi_parseVpeMagnetometerBasicTuning(
const char* response, const char* response,
vec3f* baseTuning, vec3f* baseTuning,
vec3f* adaptiveTuning, vec3f* adaptiveTuning,
vec3f* adaptiveFiltering) vec3f* adaptiveFiltering)
{ {
const char* pos = response + 3; const char* pos = response + 3;
@@ -756,10 +756,10 @@ VnError VnSpi_parseVpeMagnetometerBasicTuning(
VnError VnSpi_parseVpeMagnetometerAdvancedTuning( VnError VnSpi_parseVpeMagnetometerAdvancedTuning(
const char* response, const char* response,
vec3f* minFiltering, vec3f* minFiltering,
vec3f* maxFiltering, vec3f* maxFiltering,
float* maxAdaptRate, float* maxAdaptRate,
float* disturbanceWindow, float* disturbanceWindow,
float* maxTuning) float* maxTuning)
{ {
const char* pos = response + 3; const char* pos = response + 3;
@@ -785,8 +785,8 @@ VnError VnSpi_parseVpeMagnetometerAdvancedTuning(
VnError VnSpi_parseVpeAccelerometerBasicTuning( VnError VnSpi_parseVpeAccelerometerBasicTuning(
const char* response, const char* response,
vec3f* baseTuning, vec3f* baseTuning,
vec3f* adaptiveTuning, vec3f* adaptiveTuning,
vec3f* adaptiveFiltering) vec3f* adaptiveFiltering)
{ {
const char* pos = response + 3; const char* pos = response + 3;
@@ -808,10 +808,10 @@ VnError VnSpi_parseVpeAccelerometerBasicTuning(
VnError VnSpi_parseVpeAccelerometerAdvancedTuning( VnError VnSpi_parseVpeAccelerometerAdvancedTuning(
const char* response, const char* response,
vec3f* minFiltering, vec3f* minFiltering,
vec3f* maxFiltering, vec3f* maxFiltering,
float* maxAdaptRate, float* maxAdaptRate,
float* disturbanceWindow, float* disturbanceWindow,
float* maxTuning) float* maxTuning)
{ {
const char* pos = response + 3; const char* pos = response + 3;
@@ -837,8 +837,8 @@ VnError VnSpi_parseVpeAccelerometerAdvancedTuning(
VnError VnSpi_parseVpeGyroBasicTuning( VnError VnSpi_parseVpeGyroBasicTuning(
const char* response, const char* response,
vec3f* angularWalkVariance, vec3f* angularWalkVariance,
vec3f* baseTuning, vec3f* baseTuning,
vec3f* adaptiveTuning) vec3f* adaptiveTuning)
{ {
const char* pos = response + 3; const char* pos = response + 3;
@@ -877,8 +877,8 @@ VnError VnSpi_parseFilterStartupGyroBias(
VnError VnSpi_parseMagnetometerCalibrationControl( VnError VnSpi_parseMagnetometerCalibrationControl(
const char* response, const char* response,
uint8_t* hsiMode, uint8_t* hsiMode,
uint8_t* hsiOutput, uint8_t* hsiOutput,
uint8_t* convergeRate) uint8_t* convergeRate)
{ {
const char* pos = response + 3; const char* pos = response + 3;
@@ -900,7 +900,7 @@ VnError VnSpi_parseMagnetometerCalibrationControl(
VnError VnSpi_parseCalculatedMagnetometerCalibration( VnError VnSpi_parseCalculatedMagnetometerCalibration(
const char* response, const char* response,
mat3f* c, mat3f* c,
vec3f* b) vec3f* b)
{ {
const char* pos = response + 3; const char* pos = response + 3;
@@ -920,7 +920,7 @@ VnError VnSpi_parseCalculatedMagnetometerCalibration(
VnError VnSpi_parseIndoorHeadingModeControl( VnError VnSpi_parseIndoorHeadingModeControl(
const char* response, const char* response,
float* maxRateError, float* maxRateError,
uint8_t* reserved1) uint8_t* reserved1)
{ {
const char* pos = response + 3; const char* pos = response + 3;
@@ -957,8 +957,8 @@ VnError VnSpi_parseVelocityCompensationMeasurement(
VnError VnSpi_parseVelocityCompensationControl( VnError VnSpi_parseVelocityCompensationControl(
const char* response, const char* response,
uint8_t* mode, uint8_t* mode,
float* velocityTuning, float* velocityTuning,
float* rateTuning) float* rateTuning)
{ {
const char* pos = response + 3; const char* pos = response + 3;
@@ -980,9 +980,9 @@ VnError VnSpi_parseVelocityCompensationControl(
VnError VnSpi_parseVelocityCompensationStatus( VnError VnSpi_parseVelocityCompensationStatus(
const char* response, const char* response,
float* x, float* x,
float* xDot, float* xDot,
vec3f* accelOffset, vec3f* accelOffset,
vec3f* omega) vec3f* omega)
{ {
const char* pos = response + 3; const char* pos = response + 3;
@@ -1006,10 +1006,10 @@ VnError VnSpi_parseVelocityCompensationStatus(
VnError VnSpi_parseImuMeasurements( VnError VnSpi_parseImuMeasurements(
const char* response, const char* response,
vec3f* mag, vec3f* mag,
vec3f* accel, vec3f* accel,
vec3f* gyro, vec3f* gyro,
float* temp, float* temp,
float* pressure) float* pressure)
{ {
const char* pos = response + 3; const char* pos = response + 3;
@@ -1035,10 +1035,10 @@ VnError VnSpi_parseImuMeasurements(
VnError VnSpi_parseGpsConfiguration( VnError VnSpi_parseGpsConfiguration(
const char* response, const char* response,
uint8_t* mode, uint8_t* mode,
uint8_t* ppsSource, uint8_t* ppsSource,
uint8_t* reserved1, uint8_t* reserved1,
uint8_t* reserved2, uint8_t* reserved2,
uint8_t* reserved3) uint8_t* reserved3)
{ {
const char* pos = response + 3; const char* pos = response + 3;
@@ -1081,14 +1081,14 @@ VnError VnSpi_parseGpsAntennaOffset(
VnError VnSpi_parseGpsSolutionLla( VnError VnSpi_parseGpsSolutionLla(
const char* response, const char* response,
double* time, double* time,
uint16_t* week, uint16_t* week,
uint8_t* gpsFix, uint8_t* gpsFix,
uint8_t* numSats, uint8_t* numSats,
vec3d* lla, vec3d* lla,
vec3f* nedVel, vec3f* nedVel,
vec3f* nedAcc, vec3f* nedAcc,
float* speedAcc, float* speedAcc,
float* timeAcc) float* timeAcc)
{ {
const char* pos = response + 3; const char* pos = response + 3;
@@ -1123,14 +1123,14 @@ VnError VnSpi_parseGpsSolutionLla(
VnError VnSpi_parseGpsSolutionEcef( VnError VnSpi_parseGpsSolutionEcef(
const char* response, const char* response,
double* tow, double* tow,
uint16_t* week, uint16_t* week,
uint8_t* gpsFix, uint8_t* gpsFix,
uint8_t* numSats, uint8_t* numSats,
vec3d* position, vec3d* position,
vec3f* velocity, vec3f* velocity,
vec3f* posAcc, vec3f* posAcc,
float* speedAcc, float* speedAcc,
float* timeAcc) float* timeAcc)
{ {
const char* pos = response + 3; const char* pos = response + 3;
@@ -1165,14 +1165,14 @@ VnError VnSpi_parseGpsSolutionEcef(
VnError VnSpi_parseInsSolutionLla( VnError VnSpi_parseInsSolutionLla(
const char* response, const char* response,
double* time, double* time,
uint16_t* week, uint16_t* week,
uint16_t* status, uint16_t* status,
vec3f* yawPitchRoll, vec3f* yawPitchRoll,
vec3d* position, vec3d* position,
vec3f* nedVel, vec3f* nedVel,
float* attUncertainty, float* attUncertainty,
float* posUncertainty, float* posUncertainty,
float* velUncertainty) float* velUncertainty)
{ {
const char* pos = response + 3; const char* pos = response + 3;
@@ -1206,14 +1206,14 @@ VnError VnSpi_parseInsSolutionLla(
VnError VnSpi_parseInsSolutionEcef( VnError VnSpi_parseInsSolutionEcef(
const char* response, const char* response,
double* time, double* time,
uint16_t* week, uint16_t* week,
uint16_t* status, uint16_t* status,
vec3f* yawPitchRoll, vec3f* yawPitchRoll,
vec3d* position, vec3d* position,
vec3f* velocity, vec3f* velocity,
float* attUncertainty, float* attUncertainty,
float* posUncertainty, float* posUncertainty,
float* velUncertainty) float* velUncertainty)
{ {
const char* pos = response + 3; const char* pos = response + 3;
@@ -1247,9 +1247,9 @@ VnError VnSpi_parseInsSolutionEcef(
VnError VnSpi_parseInsBasicConfiguration( VnError VnSpi_parseInsBasicConfiguration(
const char* response, const char* response,
uint8_t* scenario, uint8_t* scenario,
uint8_t* ahrsAiding, uint8_t* ahrsAiding,
uint8_t* estBaseline, uint8_t* estBaseline,
uint8_t* resv2) uint8_t* resv2)
{ {
const char* pos = response + 3; const char* pos = response + 3;
@@ -1273,20 +1273,20 @@ VnError VnSpi_parseInsBasicConfiguration(
VnError VnSpi_parseInsAdvancedConfiguration( VnError VnSpi_parseInsAdvancedConfiguration(
const char* response, const char* response,
uint8_t* useMag, uint8_t* useMag,
uint8_t* usePres, uint8_t* usePres,
uint8_t* posAtt, uint8_t* posAtt,
uint8_t* velAtt, uint8_t* velAtt,
uint8_t* velBias, uint8_t* velBias,
uint8_t* useFoam, uint8_t* useFoam,
uint8_t* gpsCovType, uint8_t* gpsCovType,
uint8_t* velCount, uint8_t* velCount,
float* velInit, float* velInit,
float* moveOrigin, float* moveOrigin,
float* gpsTimeout, float* gpsTimeout,
float* deltaLimitPos, float* deltaLimitPos,
float* deltaLimitVel, float* deltaLimitVel,
float* minPosUncertainty, float* minPosUncertainty,
float* minVelUncertainty) float* minVelUncertainty)
{ {
const char* pos = response + 3; const char* pos = response + 3;
@@ -1332,10 +1332,10 @@ VnError VnSpi_parseInsAdvancedConfiguration(
VnError VnSpi_parseInsStateLla( VnError VnSpi_parseInsStateLla(
const char* response, const char* response,
vec3f* yawPitchRoll, vec3f* yawPitchRoll,
vec3d* position, vec3d* position,
vec3f* velocity, vec3f* velocity,
vec3f* accel, vec3f* accel,
vec3f* angularRate) vec3f* angularRate)
{ {
const char* pos = response + 3; const char* pos = response + 3;
@@ -1361,10 +1361,10 @@ VnError VnSpi_parseInsStateLla(
VnError VnSpi_parseInsStateEcef( VnError VnSpi_parseInsStateEcef(
const char* response, const char* response,
vec3f* yawPitchRoll, vec3f* yawPitchRoll,
vec3d* position, vec3d* position,
vec3f* velocity, vec3f* velocity,
vec3f* accel, vec3f* accel,
vec3f* angularRate) vec3f* angularRate)
{ {
const char* pos = response + 3; const char* pos = response + 3;
@@ -1390,8 +1390,8 @@ VnError VnSpi_parseInsStateEcef(
VnError VnSpi_parseStartupFilterBiasEstimate( VnError VnSpi_parseStartupFilterBiasEstimate(
const char* response, const char* response,
vec3f* gyroBias, vec3f* gyroBias,
vec3f* accelBias, vec3f* accelBias,
float* pressureBias) float* pressureBias)
{ {
const char* pos = response + 3; const char* pos = response + 3;
@@ -1413,8 +1413,8 @@ VnError VnSpi_parseStartupFilterBiasEstimate(
VnError VnSpi_parseDeltaThetaAndDeltaVelocity( VnError VnSpi_parseDeltaThetaAndDeltaVelocity(
const char* response, const char* response,
float* deltaTime, float* deltaTime,
vec3f* deltaTheta, vec3f* deltaTheta,
vec3f* deltaVelocity) vec3f* deltaVelocity)
{ {
const char* pos = response + 3; const char* pos = response + 3;
@@ -1436,10 +1436,10 @@ VnError VnSpi_parseDeltaThetaAndDeltaVelocity(
VnError VnSpi_parseDeltaThetaAndDeltaVelocityConfiguration( VnError VnSpi_parseDeltaThetaAndDeltaVelocityConfiguration(
const char* response, const char* response,
uint8_t* integrationFrame, uint8_t* integrationFrame,
uint8_t* gyroCompensation, uint8_t* gyroCompensation,
uint8_t* accelCompensation, uint8_t* accelCompensation,
uint8_t* reserved1, uint8_t* reserved1,
uint16_t* reserved2) uint16_t* reserved2)
{ {
const char* pos = response + 3; const char* pos = response + 3;
@@ -1465,12 +1465,12 @@ VnError VnSpi_parseDeltaThetaAndDeltaVelocityConfiguration(
VnError VnSpi_parseReferenceVectorConfiguration( VnError VnSpi_parseReferenceVectorConfiguration(
const char* response, const char* response,
uint8_t* useMagModel, uint8_t* useMagModel,
uint8_t* useGravityModel, uint8_t* useGravityModel,
uint8_t* resv1, uint8_t* resv1,
uint8_t* resv2, uint8_t* resv2,
uint32_t* recalcThreshold, uint32_t* recalcThreshold,
float* year, float* year,
vec3d* position) vec3d* position)
{ {
const char* pos = response + 3; const char* pos = response + 3;
@@ -1501,7 +1501,7 @@ VnError VnSpi_parseReferenceVectorConfiguration(
VnError VnSpi_parseGyroCompensation( VnError VnSpi_parseGyroCompensation(
const char* response, const char* response,
mat3f* c, mat3f* c,
vec3f* b) vec3f* b)
{ {
const char* pos = response + 3; const char* pos = response + 3;
@@ -1521,15 +1521,15 @@ VnError VnSpi_parseGyroCompensation(
VnError VnSpi_parseImuFilteringConfiguration( VnError VnSpi_parseImuFilteringConfiguration(
const char* response, const char* response,
uint16_t* magWindowSize, uint16_t* magWindowSize,
uint16_t* accelWindowSize, uint16_t* accelWindowSize,
uint16_t* gyroWindowSize, uint16_t* gyroWindowSize,
uint16_t* tempWindowSize, uint16_t* tempWindowSize,
uint16_t* presWindowSize, uint16_t* presWindowSize,
uint8_t* magFilterMode, uint8_t* magFilterMode,
uint8_t* accelFilterMode, uint8_t* accelFilterMode,
uint8_t* gyroFilterMode, uint8_t* gyroFilterMode,
uint8_t* tempFilterMode, uint8_t* tempFilterMode,
uint8_t* presFilterMode) uint8_t* presFilterMode)
{ {
const char* pos = response + 3; const char* pos = response + 3;
@@ -1565,7 +1565,7 @@ VnError VnSpi_parseImuFilteringConfiguration(
VnError VnSpi_parseGpsCompassBaseline( VnError VnSpi_parseGpsCompassBaseline(
const char* response, const char* response,
vec3f* position, vec3f* position,
vec3f* uncertainty) vec3f* uncertainty)
{ {
const char* pos = response + 3; const char* pos = response + 3;
@@ -1585,10 +1585,10 @@ VnError VnSpi_parseGpsCompassBaseline(
VnError VnSpi_parseGpsCompassEstimatedBaseline( VnError VnSpi_parseGpsCompassEstimatedBaseline(
const char* response, const char* response,
uint8_t* estBaselineUsed, uint8_t* estBaselineUsed,
uint8_t* resv, uint8_t* resv,
uint16_t* numMeas, uint16_t* numMeas,
vec3f* position, vec3f* position,
vec3f* uncertainty) vec3f* uncertainty)
{ {
const char* pos = response + 3; const char* pos = response + 3;
@@ -1614,9 +1614,9 @@ VnError VnSpi_parseGpsCompassEstimatedBaseline(
VnError VnSpi_parseImuRateConfiguration( VnError VnSpi_parseImuRateConfiguration(
const char* response, const char* response,
uint16_t* imuRate, uint16_t* imuRate,
uint16_t* navDivisor, uint16_t* navDivisor,
float* filterTargetRate, float* filterTargetRate,
float* filterMinRate) float* filterMinRate)
{ {
const char* pos = response + 3; const char* pos = response + 3;
@@ -1640,8 +1640,8 @@ VnError VnSpi_parseImuRateConfiguration(
VnError VnSpi_parseYawPitchRollTrueBodyAccelerationAndAngularRates( VnError VnSpi_parseYawPitchRollTrueBodyAccelerationAndAngularRates(
const char* response, const char* response,
vec3f* yawPitchRoll, vec3f* yawPitchRoll,
vec3f* bodyAccel, vec3f* bodyAccel,
vec3f* gyro) vec3f* gyro)
{ {
const char* pos = response + 3; const char* pos = response + 3;
@@ -1663,8 +1663,8 @@ VnError VnSpi_parseYawPitchRollTrueBodyAccelerationAndAngularRates(
VnError VnSpi_parseYawPitchRollTrueInertialAccelerationAndAngularRates( VnError VnSpi_parseYawPitchRollTrueInertialAccelerationAndAngularRates(
const char* response, const char* response,
vec3f* yawPitchRoll, vec3f* yawPitchRoll,
vec3f* inertialAccel, vec3f* inertialAccel,
vec3f* gyro) vec3f* gyro)
{ {
const char* pos = response + 3; const char* pos = response + 3;
src/drivers/ins/vectornav/libvnc/src/vn/sensors.c
+1 -1
View File
@@ -9,7 +9,7 @@
#include "vn/xplat/time.h" #include "vn/xplat/time.h"
#define UNUSED(x) (void)(sizeof(x)) //#define UNUSED(x) (void)(sizeof(x))
#define DEFAULT_RESPONSE_TIMEOUT_MS 500 #define DEFAULT_RESPONSE_TIMEOUT_MS 500
#define DEFAULT_RETRANSMIT_DELAY_MS 200 #define DEFAULT_RETRANSMIT_DELAY_MS 200