diff --git a/src/drivers/airspeed/airspeed.cpp b/src/drivers/airspeed/airspeed.cpp index 2a324e6d4a..d01ea9ab0c 100644 --- a/src/drivers/airspeed/airspeed.cpp +++ b/src/drivers/airspeed/airspeed.cpp @@ -124,7 +124,7 @@ Airspeed::~Airspeed() int Airspeed::init() { - int ret = ERROR; + int ret = PX4_ERROR; /* do I2C init (and probe) first */ if (I2C::init() != OK) { diff --git a/src/drivers/airspeed/airspeed.h b/src/drivers/airspeed/airspeed.h index fad04c9978..94f592d918 100644 --- a/src/drivers/airspeed/airspeed.h +++ b/src/drivers/airspeed/airspeed.h @@ -39,6 +39,7 @@ */ #include +#include #include @@ -82,12 +83,6 @@ /* Default I2C bus */ #define PX4_I2C_BUS_DEFAULT PX4_I2C_BUS_EXPANSION -/* Oddly, ERROR is not defined for C++ */ -#ifdef ERROR -# undef ERROR -#endif -static const int ERROR = -1; - #ifndef CONFIG_SCHED_WORKQUEUE # error This requires CONFIG_SCHED_WORKQUEUE. #endif diff --git a/src/drivers/bma180/bma180.cpp b/src/drivers/bma180/bma180.cpp index f6a3c7a00f..d4206246ce 100644 --- a/src/drivers/bma180/bma180.cpp +++ b/src/drivers/bma180/bma180.cpp @@ -37,6 +37,7 @@ */ #include +#include #include #include @@ -68,12 +69,6 @@ #define ACCEL_DEVICE_PATH "/dev/bma180" -/* oddly, ERROR is not defined for c++ */ -#ifdef ERROR -# undef ERROR -#endif -static const int ERROR = -1; - #define DIR_READ (1<<7) #define DIR_WRITE (0<<7) @@ -275,7 +270,7 @@ BMA180::~BMA180() int BMA180::init() { - int ret = ERROR; + int ret = PX4_ERROR; /* do SPI init (and probe) first */ if (SPI::init() != OK) { @@ -321,7 +316,7 @@ BMA180::init() ret = OK; } else { - ret = ERROR; + ret = PX4_ERROR; } _class_instance = register_class_devname(ACCEL_DEVICE_PATH); diff --git a/src/drivers/ets_airspeed/ets_airspeed.cpp b/src/drivers/ets_airspeed/ets_airspeed.cpp index 83f83896c6..c960584cf2 100644 --- a/src/drivers/ets_airspeed/ets_airspeed.cpp +++ b/src/drivers/ets_airspeed/ets_airspeed.cpp @@ -265,12 +265,6 @@ ETSAirspeed::cycle() namespace ets_airspeed { -/* oddly, ERROR is not defined for c++ */ -#ifdef ERROR -# undef ERROR -#endif -const int ERROR = -1; - ETSAirspeed *g_dev; void start(int i2c_bus); diff --git a/src/drivers/hc_sr04/hc_sr04.cpp b/src/drivers/hc_sr04/hc_sr04.cpp index e5571c5fa2..811fdb19f1 100644 --- a/src/drivers/hc_sr04/hc_sr04.cpp +++ b/src/drivers/hc_sr04/hc_sr04.cpp @@ -40,6 +40,7 @@ #include #include +#include #include #include @@ -88,12 +89,6 @@ #define SR04_CONVERSION_INTERVAL 100000 /* 100ms for one sonar */ -/* oddly, ERROR is not defined for c++ */ -#ifdef ERROR -# undef ERROR -#endif -static const int ERROR = -1; - #ifndef CONFIG_SCHED_WORKQUEUE # error This requires CONFIG_SCHED_WORKQUEUE. #endif @@ -269,18 +264,18 @@ HC_SR04::~HC_SR04() int HC_SR04::init() { - int ret = ERROR; + int ret = PX4_ERROR; /* do I2C init (and probe) first */ if (CDev::init() != OK) { - return ERROR; + return PX4_ERROR; } /* allocate basic report buffers */ _reports = new ringbuffer::RingBuffer(2, sizeof(distance_sensor_s)); if (_reports == nullptr) { - return ERROR; + return PX4_ERROR; } _class_instance = register_class_devname(RANGE_FINDER_BASE_DEVICE_PATH); @@ -739,12 +734,6 @@ HC_SR04::print_info() namespace hc_sr04 { -/* oddly, ERROR is not defined for c++ */ -#ifdef ERROR -# undef ERROR -#endif -const int ERROR = -1; - HC_SR04 *g_dev; void start(); diff --git a/src/drivers/hmc5883/hmc5883.cpp b/src/drivers/hmc5883/hmc5883.cpp index ef14714d52..165f1c26eb 100644 --- a/src/drivers/hmc5883/hmc5883.cpp +++ b/src/drivers/hmc5883/hmc5883.cpp @@ -38,6 +38,7 @@ */ #include +#include #include @@ -123,12 +124,6 @@ enum HMC5883_BUS { HMC5883_BUS_SPI }; -/* oddly, ERROR is not defined for c++ */ -#ifdef ERROR -# undef ERROR -#endif -static const int ERROR = -1; - #ifndef CONFIG_SCHED_WORKQUEUE # error This requires CONFIG_SCHED_WORKQUEUE. #endif @@ -416,7 +411,7 @@ HMC5883::~HMC5883() int HMC5883::init() { - int ret = ERROR; + int ret = PX4_ERROR; ret = CDev::init(); @@ -1236,7 +1231,7 @@ out: if (check_scale()) { /* failed */ warnx("FAILED: SCALE"); - ret = ERROR; + ret = PX4_ERROR; } } @@ -1439,12 +1434,6 @@ HMC5883::print_info() namespace hmc5883 { -/* oddly, ERROR is not defined for c++ */ -#ifdef ERROR -# undef ERROR -#endif -const int ERROR = -1; - /* list of supported bus configurations */ diff --git a/src/drivers/hott/hott_sensors/hott_sensors.cpp b/src/drivers/hott/hott_sensors/hott_sensors.cpp index 390a64f2ab..d6e2b86598 100644 --- a/src/drivers/hott/hott_sensors/hott_sensors.cpp +++ b/src/drivers/hott/hott_sensors/hott_sensors.cpp @@ -43,6 +43,7 @@ #include #include +#include #include #include #include @@ -57,12 +58,6 @@ #define DEFAULT_UART "/dev/ttyS0"; /**< USART1 */ -/* Oddly, ERROR is not defined for C++ */ -#ifdef ERROR -# undef ERROR -#endif -static const int ERROR = -1; - static int thread_should_exit = false; /**< Deamon exit flag */ static int thread_running = false; /**< Deamon status flag */ static int deamon_task; /**< Handle of deamon task / thread */ @@ -133,7 +128,7 @@ recv_data(int uart, uint8_t *buffer, size_t *size, uint8_t *id) } } - return ERROR; + return PX4_ERROR; } int diff --git a/src/drivers/hott/hott_telemetry/hott_telemetry.cpp b/src/drivers/hott/hott_telemetry/hott_telemetry.cpp index dff8d43a77..e3e7fdb505 100644 --- a/src/drivers/hott/hott_telemetry/hott_telemetry.cpp +++ b/src/drivers/hott/hott_telemetry/hott_telemetry.cpp @@ -45,6 +45,7 @@ #include #include +#include #include #include #include @@ -60,12 +61,6 @@ #define DEFAULT_UART "/dev/ttyS6"; /**< Serial4 */ -/* Oddly, ERROR is not defined for C++ */ -#ifdef ERROR -# undef ERROR -#endif -static const int ERROR = -1; - static int thread_should_exit = false; /**< Deamon exit flag */ static int thread_running = false; /**< Deamon status flag */ static int deamon_task; /**< Handle of deamon task / thread */ @@ -124,7 +119,7 @@ recv_req_id(int uart, uint8_t *id) /* if we have a binary mode request */ if (mode != BINARY_MODE_REQUEST_ID) { - return ERROR; + return PX4_ERROR; } /* Read the device ID being polled */ @@ -132,10 +127,10 @@ recv_req_id(int uart, uint8_t *id) } else { warnx("UART timeout on TX/RX port"); - return ERROR; + return PX4_ERROR; } - return OK; + return PX4_OK; } int @@ -165,7 +160,7 @@ send_data(int uart, uint8_t *buffer, size_t size) uint8_t dummy[size]; read(uart, &dummy, size); - return OK; + return PX4_OK; } int @@ -217,10 +212,9 @@ hott_telemetry_thread_main(int argc, char *argv[]) while (!thread_should_exit) { // Listen for and serve poll from the receiver. - if (recv_req_id(uart, &id) == OK) { + if (recv_req_id(uart, &id) == PX4_OK) { if (!connected) { connected = true; - warnx("OK"); } switch (id) { diff --git a/src/drivers/l3gd20/l3gd20.cpp b/src/drivers/l3gd20/l3gd20.cpp index fccbbfbb21..f6e3275a0a 100644 --- a/src/drivers/l3gd20/l3gd20.cpp +++ b/src/drivers/l3gd20/l3gd20.cpp @@ -40,6 +40,7 @@ */ #include +#include #include #include @@ -74,12 +75,6 @@ #define L3GD20_DEVICE_PATH "/dev/l3gd20" -/* oddly, ERROR is not defined for c++ */ -#ifdef ERROR -# undef ERROR -#endif -static const int ERROR = -1; - /* Orientation on board */ #define SENSOR_BOARD_ROTATION_000_DEG 0 #define SENSOR_BOARD_ROTATION_090_DEG 1 @@ -476,7 +471,7 @@ L3GD20::~L3GD20() int L3GD20::init() { - int ret = ERROR; + int ret = PX4_ERROR; /* do SPI init (and probe) first */ if (SPI::init() != OK) { diff --git a/src/drivers/lis3mdl/lis3mdl.cpp b/src/drivers/lis3mdl/lis3mdl.cpp index a3dfe3d869..fc5a53aeac 100644 --- a/src/drivers/lis3mdl/lis3mdl.cpp +++ b/src/drivers/lis3mdl/lis3mdl.cpp @@ -40,6 +40,7 @@ */ #include +#include #include @@ -115,12 +116,6 @@ enum LIS3MDL_BUS { LIS3MDL_BUS_SPI }; -/* oddly, ERROR is not defined for c++ */ -#ifdef ERROR -# undef ERROR -#endif -static const int ERROR = -1; - #ifndef CONFIG_SCHED_WORKQUEUE # error This requires CONFIG_SCHED_WORKQUEUE. #endif @@ -406,7 +401,7 @@ LIS3MDL::~LIS3MDL() int LIS3MDL::init() { - int ret = ERROR; + int ret = PX4_ERROR; ret = CDev::init(); @@ -1179,7 +1174,7 @@ out: if (check_scale()) { /* failed */ warnx("FAILED: SCALE"); - ret = ERROR; + ret = PX4_ERROR; } } @@ -1325,12 +1320,6 @@ LIS3MDL::print_info() namespace lis3mdl { -/* oddly, ERROR is not defined for c++ */ -#ifdef ERROR -# undef ERROR -#endif -const int ERROR = -1; - /* list of supported bus configurations */ diff --git a/src/drivers/ll40ls/LidarLiteI2C.cpp b/src/drivers/ll40ls/LidarLiteI2C.cpp index 64bdf9a11c..95f1d3c7da 100644 --- a/src/drivers/ll40ls/LidarLiteI2C.cpp +++ b/src/drivers/ll40ls/LidarLiteI2C.cpp @@ -40,6 +40,7 @@ */ #include "LidarLiteI2C.h" +#include #include #include #include @@ -48,12 +49,6 @@ #include #include -/* oddly, ERROR is not defined for c++ */ -#ifdef ERROR -# undef ERROR -#endif -static const int ERROR = -1; - LidarLiteI2C::LidarLiteI2C(int bus, const char *path, int address) : I2C("LL40LS", path, bus, address, 100000), _work{}, @@ -110,7 +105,7 @@ LidarLiteI2C::~LidarLiteI2C() int LidarLiteI2C::init() { - int ret = ERROR; + int ret = PX4_ERROR; /* do I2C init (and probe) first */ if (I2C::init() != OK) { diff --git a/src/drivers/ll40ls/LidarLitePWM.cpp b/src/drivers/ll40ls/LidarLitePWM.cpp index 0157081832..37e0e5ff56 100644 --- a/src/drivers/ll40ls/LidarLitePWM.cpp +++ b/src/drivers/ll40ls/LidarLitePWM.cpp @@ -45,14 +45,10 @@ #include "LidarLitePWM.h" #include #include +#include #include #include -/* oddly, ERROR is not defined for c++ */ -#ifdef __cplusplus -static const int ERROR = -1; -#endif - LidarLitePWM::LidarLitePWM(const char *path) : CDev("LidarLitePWM", path), _work{}, @@ -95,15 +91,15 @@ int LidarLitePWM::init() /* do regular cdev init */ int ret = CDev::init(); - if (ret != OK) { - return ERROR; + if (ret != PX4_OK) { + return PX4_ERROR; } /* allocate basic report buffers */ _reports = new ringbuffer::RingBuffer(2, sizeof(struct distance_sensor_s)); if (_reports == nullptr) { - return ERROR; + return PX4_ERROR; } _class_instance = register_class_devname(RANGE_FINDER_BASE_DEVICE_PATH); @@ -119,7 +115,7 @@ int LidarLitePWM::init() DEVICE_DEBUG("failed to create distance_sensor object. Did you start uOrb?"); } - return OK; + return PX4_OK; } void LidarLitePWM::print_info() @@ -172,11 +168,11 @@ int LidarLitePWM::measure() { perf_begin(_sample_perf); - if (OK != collect()) { + if (PX4_OK != collect()) { DEVICE_DEBUG("collection error"); perf_count(_read_errors); perf_end(_sample_perf); - return ERROR; + return PX4_ERROR; } _range.timestamp = hrt_absolute_time(); @@ -206,7 +202,7 @@ int LidarLitePWM::measure() poll_notify(POLLIN); perf_end(_sample_perf); - return OK; + return PX4_OK; } ssize_t LidarLitePWM::read(struct file *filp, char *buffer, size_t buflen) @@ -266,12 +262,12 @@ int LidarLitePWM::collect() int fd = ::open(PWMIN0_DEVICE_PATH, O_RDONLY); if (fd == -1) { - return ERROR; + return PX4_ERROR; } if (::read(fd, &_pwm, sizeof(_pwm)) == sizeof(_pwm)) { ::close(fd); - return OK; + return PX4_OK; } ::close(fd); @@ -284,7 +280,7 @@ int LidarLitePWM::reset_sensor() int fd = ::open(PWMIN0_DEVICE_PATH, O_RDONLY); if (fd == -1) { - return ERROR; + return PX4_ERROR; } int ret = ::ioctl(fd, SENSORIOCRESET, 0); diff --git a/src/drivers/ll40ls/ll40ls.cpp b/src/drivers/ll40ls/ll40ls.cpp index 5e50d34934..be9ad5e41a 100644 --- a/src/drivers/ll40ls/ll40ls.cpp +++ b/src/drivers/ll40ls/ll40ls.cpp @@ -70,12 +70,6 @@ extern "C" __EXPORT int ll40ls_main(int argc, char *argv[]); namespace ll40ls { -/* oddly, ERROR is not defined for c++ */ -#ifdef ERROR -# undef ERROR -#endif -const int ERROR = -1; - LidarLiteI2C *g_dev_int; LidarLiteI2C *g_dev_ext; LidarLitePWM *g_dev_pwm; @@ -132,7 +126,7 @@ void start(const bool use_i2c, const int bus) g_dev_ext = new LidarLiteI2C(PX4_I2C_BUS_EXPANSION, LL40LS_DEVICE_PATH_EXT); - if (g_dev_ext != nullptr && OK != g_dev_ext->init()) { + if (g_dev_ext != nullptr && PX4_OK != g_dev_ext->init()) { delete g_dev_ext; g_dev_ext = nullptr; @@ -152,7 +146,7 @@ void start(const bool use_i2c, const int bus) g_dev_int = new LidarLiteI2C(PX4_I2C_BUS_ONBOARD, LL40LS_DEVICE_PATH_INT); - if (g_dev_int != nullptr && OK != g_dev_int->init()) { + if (g_dev_int != nullptr && PX4_OK != g_dev_int->init()) { /* tear down the failing onboard instance */ delete g_dev_int; g_dev_int = nullptr; @@ -203,7 +197,7 @@ void start(const bool use_i2c, const int bus) } else { g_dev_pwm = new LidarLitePWM(LL40LS_DEVICE_PATH_PWM); - if (g_dev_pwm != nullptr && OK != g_dev_pwm->init()) { + if (g_dev_pwm != nullptr && PX4_OK != g_dev_pwm->init()) { delete g_dev_pwm; g_dev_pwm = nullptr; warnx("failed to init PWM"); @@ -321,7 +315,7 @@ test(const bool use_i2c, const int bus) warnx("time: %lld", report.timestamp); /* start the sensor polling at 2Hz */ - if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2)) { + if (PX4_OK != ioctl(fd, SENSORIOCSPOLLRATE, 2)) { errx(1, "failed to set 2Hz poll rate"); } @@ -353,7 +347,7 @@ test(const bool use_i2c, const int bus) } /* reset the sensor polling to default rate */ - if (OK != ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT)) { + if (PX4_OK != ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT)) { errx(1, "failed to set default poll rate"); } diff --git a/src/drivers/lps25h/lps25h.cpp b/src/drivers/lps25h/lps25h.cpp index f8134e5225..d4deba2817 100644 --- a/src/drivers/lps25h/lps25h.cpp +++ b/src/drivers/lps25h/lps25h.cpp @@ -187,12 +187,6 @@ enum LPS25H_BUS { LPS25H_BUS_SPI }; -/* oddly, ERROR is not defined for c++ */ -#ifdef ERROR -# undef ERROR -#endif -static const int ERROR = -1; - #ifndef CONFIG_SCHED_WORKQUEUE # error This requires CONFIG_SCHED_WORKQUEUE. #endif @@ -818,12 +812,6 @@ LPS25H::print_info() namespace lps25h { -/* oddly, ERROR is not defined for c++ */ -#ifdef ERROR -# undef ERROR -#endif -const int ERROR = -1; - /* list of supported bus configurations */ diff --git a/src/drivers/lsm303d/lsm303d.cpp b/src/drivers/lsm303d/lsm303d.cpp index e2f02e397c..35975bb2f0 100644 --- a/src/drivers/lsm303d/lsm303d.cpp +++ b/src/drivers/lsm303d/lsm303d.cpp @@ -37,6 +37,7 @@ */ #include +#include #include #include @@ -71,12 +72,6 @@ #include #include -/* oddly, ERROR is not defined for c++ */ -#ifdef ERROR -# undef ERROR -#endif -static const int ERROR = -1; - /* SPI protocol address bits */ #define DIR_READ (1<<7) #define DIR_WRITE (0<<7) @@ -647,7 +642,7 @@ LSM303D::~LSM303D() int LSM303D::init() { - int ret = ERROR; + int ret = PX4_ERROR; /* do SPI init (and probe) first */ if (SPI::init() != OK) { @@ -2060,7 +2055,7 @@ test() warnx("accel range: %8.4f m/s^2", (double)accel_report.range_m_s2); - if (ERROR == (ret = ioctl(fd_accel, ACCELIOCGLOWPASS, 0))) { + if (PX4_ERROR == (ret = ioctl(fd_accel, ACCELIOCGLOWPASS, 0))) { warnx("accel antialias filter bandwidth: fail"); } else { diff --git a/src/drivers/mb12xx/mb12xx.cpp b/src/drivers/mb12xx/mb12xx.cpp index 6c6222c1f9..92225a2a45 100644 --- a/src/drivers/mb12xx/mb12xx.cpp +++ b/src/drivers/mb12xx/mb12xx.cpp @@ -92,13 +92,6 @@ #define MB12XX_CONVERSION_INTERVAL 100000 /* 60ms for one sonar */ #define TICKS_BETWEEN_SUCCESIVE_FIRES 100000 /* 30ms between each sonar measurement (watch out for interference!) */ - -/* oddly, ERROR is not defined for c++ */ -#ifdef ERROR -# undef ERROR -#endif -static const int ERROR = -1; - #ifndef CONFIG_SCHED_WORKQUEUE # error This requires CONFIG_SCHED_WORKQUEUE. #endif @@ -251,7 +244,7 @@ MB12XX::~MB12XX() int MB12XX::init() { - int ret = ERROR; + int ret = PX4_ERROR; /* do I2C init (and probe) first */ if (I2C::init() != OK) { @@ -729,12 +722,6 @@ MB12XX::print_info() namespace mb12xx { -/* oddly, ERROR is not defined for c++ */ -#ifdef ERROR -# undef ERROR -#endif -const int ERROR = -1; - MB12XX *g_dev; void start(); diff --git a/src/drivers/meas_airspeed/meas_airspeed.cpp b/src/drivers/meas_airspeed/meas_airspeed.cpp index 5559edf82e..93844cec8d 100644 --- a/src/drivers/meas_airspeed/meas_airspeed.cpp +++ b/src/drivers/meas_airspeed/meas_airspeed.cpp @@ -399,12 +399,6 @@ MEASAirspeed::voltage_correction(float &diff_press_pa, float &temperature) namespace meas_airspeed { -/* oddly, ERROR is not defined for c++ */ -#ifdef ERROR -# undef ERROR -#endif -const int ERROR = -1; - MEASAirspeed *g_dev = nullptr; void start(int i2c_bus); diff --git a/src/drivers/ms5611/ms5611.cpp b/src/drivers/ms5611/ms5611.cpp index 300c0aac8f..43d10ecf5c 100644 --- a/src/drivers/ms5611/ms5611.cpp +++ b/src/drivers/ms5611/ms5611.cpp @@ -83,12 +83,6 @@ enum MS5611_BUS { MS5611_BUS_SPI_EXTERNAL }; -/* oddly, ERROR is not defined for c++ */ -#ifdef ERROR -# undef ERROR -#endif -static const int ERROR = -1; - #ifndef CONFIG_SCHED_WORKQUEUE # error This requires CONFIG_SCHED_WORKQUEUE. #endif diff --git a/src/drivers/pca9685/pca9685.cpp b/src/drivers/pca9685/pca9685.cpp index 37d3483245..97dc483477 100644 --- a/src/drivers/pca9685/pca9685.cpp +++ b/src/drivers/pca9685/pca9685.cpp @@ -47,6 +47,7 @@ */ #include +#include #include @@ -108,12 +109,6 @@ */ #define PCA9685_SCALE ((PCA9685_PWMMAX - PCA9685_PWMCENTER)/(M_DEG_TO_RAD_F * PCA9685_MAXSERVODEG)) // scales from rad to PWM -/* oddly, ERROR is not defined for c++ */ -#ifdef ERROR -# undef ERROR -#endif -static const int ERROR = -1; - class PCA9685 : public device::I2C { public: @@ -421,7 +416,7 @@ PCA9685::setPin(uint8_t num, uint16_t val, bool invert) } } - return ERROR; + return PX4_ERROR; } int diff --git a/src/drivers/px4flow/px4flow.cpp b/src/drivers/px4flow/px4flow.cpp index ef9f1759e4..a6d3aed6ed 100644 --- a/src/drivers/px4flow/px4flow.cpp +++ b/src/drivers/px4flow/px4flow.cpp @@ -40,6 +40,7 @@ */ #include +#include #include @@ -90,12 +91,6 @@ #define PX4FLOW_MAX_DISTANCE 5.0f #define PX4FLOW_MIN_DISTANCE 0.3f -/* oddly, ERROR is not defined for c++ */ -#ifdef ERROR -# undef ERROR -#endif -static const int ERROR = -1; - #ifndef CONFIG_SCHED_WORKQUEUE # error This requires CONFIG_SCHED_WORKQUEUE. #endif @@ -226,7 +221,7 @@ PX4FLOW::~PX4FLOW() int PX4FLOW::init() { - int ret = ERROR; + int ret = PX4_ERROR; /* do I2C init (and probe) first */ if (I2C::init() != OK) { @@ -663,12 +658,6 @@ PX4FLOW::print_info() namespace px4flow { -/* oddly, ERROR is not defined for c++ */ -#ifdef ERROR -# undef ERROR -#endif -const int ERROR = -1; - PX4FLOW *g_dev = nullptr; bool start_in_progress = false; diff --git a/src/drivers/sf0x/sf0x.cpp b/src/drivers/sf0x/sf0x.cpp index 13492ca2f7..edc713b255 100644 --- a/src/drivers/sf0x/sf0x.cpp +++ b/src/drivers/sf0x/sf0x.cpp @@ -77,12 +77,6 @@ /* Configuration Constants */ -/* oddly, ERROR is not defined for c++ */ -#ifdef ERROR -# undef ERROR -#endif -static const int ERROR = -1; - #ifndef CONFIG_SCHED_WORKQUEUE # error This requires CONFIG_SCHED_WORKQUEUE. #endif @@ -756,12 +750,6 @@ SF0X::print_info() namespace sf0x { -/* oddly, ERROR is not defined for c++ */ -#ifdef ERROR -# undef ERROR -#endif -const int ERROR = -1; - SF0X *g_dev; void start(const char *port); diff --git a/src/drivers/sf1xx/sf1xx.cpp b/src/drivers/sf1xx/sf1xx.cpp index a2b9e13f5f..248e62292f 100644 --- a/src/drivers/sf1xx/sf1xx.cpp +++ b/src/drivers/sf1xx/sf1xx.cpp @@ -42,6 +42,7 @@ */ #include +#include #include @@ -81,12 +82,6 @@ #define SF1XX_DEVICE_PATH "/dev/sf1xx" -/* oddly, ERROR is not defined for c++ */ -#ifdef ERROR -# undef ERROR -#endif -static const int ERROR = -1; - #ifndef CONFIG_SCHED_WORKQUEUE # error This requires CONFIG_SCHED_WORKQUEUE. #endif @@ -234,7 +229,7 @@ SF1XX::~SF1XX() int SF1XX::init() { - int ret = ERROR; + int ret = PX4_ERROR; int hw_model; param_get(param_find("SENS_EN_SF1XX"), &hw_model); @@ -653,12 +648,6 @@ SF1XX::print_info() namespace sf1xx { -/* oddly, ERROR is not defined for c++ */ -#ifdef ERROR -# undef ERROR -#endif -const int ERROR = -1; - SF1XX *g_dev; void start(); diff --git a/src/drivers/srf02/srf02.cpp b/src/drivers/srf02/srf02.cpp index 7988196049..c2e8065722 100644 --- a/src/drivers/srf02/srf02.cpp +++ b/src/drivers/srf02/srf02.cpp @@ -38,6 +38,7 @@ */ #include +#include #include @@ -92,12 +93,6 @@ #define TICKS_BETWEEN_SUCCESIVE_FIRES 100000 /* 30ms between each sonar measurement (watch out for interference!) */ -/* oddly, ERROR is not defined for c++ */ -#ifdef ERROR -# undef ERROR -#endif -static const int ERROR = -1; - #ifndef CONFIG_SCHED_WORKQUEUE # error This requires CONFIG_SCHED_WORKQUEUE. #endif @@ -250,7 +245,7 @@ SRF02::~SRF02() int SRF02::init() { - int ret = ERROR; + int ret = PX4_ERROR; /* do I2C init (and probe) first */ if (I2C::init() != OK) { @@ -731,12 +726,6 @@ SRF02::print_info() namespace srf02 { -/* oddly, ERROR is not defined for c++ */ -#ifdef ERROR -# undef ERROR -#endif -const int ERROR = -1; - SRF02 *g_dev; void start(); diff --git a/src/drivers/srf02_i2c/srf02_i2c.cpp b/src/drivers/srf02_i2c/srf02_i2c.cpp index de8ed55cff..aca13446da 100644 --- a/src/drivers/srf02_i2c/srf02_i2c.cpp +++ b/src/drivers/srf02_i2c/srf02_i2c.cpp @@ -40,6 +40,7 @@ */ #include +#include #include @@ -93,13 +94,6 @@ #define SRF02_CONVERSION_INTERVAL 100000 /* 60ms for one sonar */ #define TICKS_BETWEEN_SUCCESIVE_FIRES 100000 /* 30ms between each sonar measurement (watch out for interference!) */ - -/* oddly, ERROR is not defined for c++ */ -#ifdef ERROR -# undef ERROR -#endif -static const int ERROR = -1; - #ifndef CONFIG_SCHED_WORKQUEUE # error This requires CONFIG_SCHED_WORKQUEUE. #endif @@ -252,7 +246,7 @@ SRF02_I2C::~SRF02_I2C() int SRF02_I2C::init() { - int ret = ERROR; + int ret = PX4_ERROR; /* do I2C init (and probe) first */ if (I2C::init() != OK) { @@ -732,12 +726,6 @@ SRF02_I2C::print_info() namespace srf02_i2c { -/* oddly, ERROR is not defined for c++ */ -#ifdef ERROR -# undef ERROR -#endif -const int ERROR = -1; - SRF02_I2C *g_dev; void start(); diff --git a/src/drivers/trone/trone.cpp b/src/drivers/trone/trone.cpp index ff6362b2ff..9044580917 100644 --- a/src/drivers/trone/trone.cpp +++ b/src/drivers/trone/trone.cpp @@ -39,6 +39,7 @@ */ #include +#include #include @@ -90,12 +91,6 @@ #define TRONE_CONVERSION_INTERVAL 50000 /* 50ms */ -/* oddly, ERROR is not defined for c++ */ -#ifdef ERROR -# undef ERROR -#endif -static const int ERROR = -1; - #ifndef CONFIG_SCHED_WORKQUEUE # error This requires CONFIG_SCHED_WORKQUEUE. #endif @@ -279,7 +274,7 @@ TRONE::~TRONE() int TRONE::init() { - int ret = ERROR; + int ret = PX4_ERROR; /* do I2C init (and probe) first */ if (I2C::init() != OK) { @@ -722,12 +717,6 @@ TRONE::print_info() namespace trone { -/* oddly, ERROR is not defined for c++ */ -#ifdef ERROR -# undef ERROR -#endif -const int ERROR = -1; - TRONE *g_dev; void start(); diff --git a/src/examples/mc_att_control_multiplatform/mc_att_control.cpp b/src/examples/mc_att_control_multiplatform/mc_att_control.cpp index 54da404f05..1d36336f47 100644 --- a/src/examples/mc_att_control_multiplatform/mc_att_control.cpp +++ b/src/examples/mc_att_control_multiplatform/mc_att_control.cpp @@ -51,17 +51,6 @@ #define MIN_TAKEOFF_THRUST 0.2f #define RATES_I_LIMIT 0.3f -namespace mc_att_control -{ - -/* oddly, ERROR is not defined for c++ */ -#ifdef ERROR -# undef ERROR -#endif -static const int ERROR = -1; - -} - MulticopterAttitudeControlMultiplatform::MulticopterAttitudeControlMultiplatform() : MulticopterAttitudeControlBase(), _actuators_0_circuit_breaker_enabled(false), diff --git a/src/modules/commander/accelerometer_calibration.cpp b/src/modules/commander/accelerometer_calibration.cpp index 72e82cc1e2..523287fef2 100644 --- a/src/modules/commander/accelerometer_calibration.cpp +++ b/src/modules/commander/accelerometer_calibration.cpp @@ -127,13 +127,13 @@ #include "calibration_routines.h" #include "commander_helper.h" +#include #include #include #include #include #include #include -//#include #include #include #include @@ -148,12 +148,6 @@ #include #include -/* oddly, ERROR is not defined for c++ */ -#ifdef ERROR -# undef ERROR -#endif -static const int ERROR = -1; - static const char *sensor_name = "accel"; static int32_t device_id[max_accel_sens]; @@ -189,7 +183,7 @@ int do_accel_calibration(orb_advert_t *mavlink_log_pub) accel_scale.z_offset = 0.0f; accel_scale.z_scale = 1.0f; - int res = OK; + int res = PX4_OK; char str[30]; @@ -209,38 +203,38 @@ int do_accel_calibration(orb_advert_t *mavlink_log_pub) res = px4_ioctl(fd, ACCELIOCSSCALE, (long unsigned int)&accel_scale); px4_close(fd); - if (res != OK) { + if (res != PX4_OK) { calibration_log_critical(mavlink_log_pub, CAL_ERROR_RESET_CAL_MSG, s); } #else (void)sprintf(str, "CAL_ACC%u_XOFF", s); res = param_set(param_find(str), &accel_scale.x_offset); - if (res != OK) { + if (res != PX4_OK) { PX4_ERR("unable to reset %s", str); } (void)sprintf(str, "CAL_ACC%u_YOFF", s); res = param_set(param_find(str), &accel_scale.y_offset); - if (res != OK) { + if (res != PX4_OK) { PX4_ERR("unable to reset %s", str); } (void)sprintf(str, "CAL_ACC%u_ZOFF", s); res = param_set(param_find(str), &accel_scale.z_offset); - if (res != OK) { + if (res != PX4_OK) { PX4_ERR("unable to reset %s", str); } (void)sprintf(str, "CAL_ACC%u_XSCALE", s); res = param_set(param_find(str), &accel_scale.x_scale); - if (res != OK) { + if (res != PX4_OK) { PX4_ERR("unable to reset %s", str); } (void)sprintf(str, "CAL_ACC%u_YSCALE", s); res = param_set(param_find(str), &accel_scale.y_scale); - if (res != OK) { + if (res != PX4_OK) { PX4_ERR("unable to reset %s", str); } (void)sprintf(str, "CAL_ACC%u_ZSCALE", s); res = param_set(param_find(str), &accel_scale.z_scale); - if (res != OK) { + if (res != PX4_OK) { PX4_ERR("unable to reset %s", str); } #endif @@ -251,23 +245,23 @@ int do_accel_calibration(orb_advert_t *mavlink_log_pub) unsigned active_sensors; /* measure and calculate offsets & scales */ - if (res == OK) { + if (res == PX4_OK) { calibrate_return cal_return = do_accel_calibration_measurements(mavlink_log_pub, accel_offs, accel_T, &active_sensors); if (cal_return == calibrate_return_cancelled) { // Cancel message already displayed, nothing left to do - return ERROR; + return PX4_ERROR; } else if (cal_return == calibrate_return_ok) { - res = OK; + res = PX4_OK; } else { - res = ERROR; + res = PX4_ERROR; } } - if (res != OK) { + if (res != PX4_OK) { if (active_sensors == 0) { calibration_log_critical(mavlink_log_pub, CAL_ERROR_SENSOR_MSG); } - return ERROR; + return PX4_ERROR; } /* measurements completed successfully, rotate calibration values */ @@ -296,7 +290,7 @@ int do_accel_calibration(orb_advert_t *mavlink_log_pub) bool failed = false; - failed = failed || (OK != param_set_no_notification(param_find("CAL_ACC_PRIME"), &(device_id_primary))); + failed = failed || (PX4_OK != param_set_no_notification(param_find("CAL_ACC_PRIME"), &(device_id_primary))); PX4_DEBUG("found offset %d: x: %.6f, y: %.6f, z: %.6f", i, @@ -310,23 +304,23 @@ int do_accel_calibration(orb_advert_t *mavlink_log_pub) /* set parameters */ (void)sprintf(str, "CAL_ACC%u_XOFF", i); - failed |= (OK != param_set_no_notification(param_find(str), &(accel_scale.x_offset))); + failed |= (PX4_OK != param_set_no_notification(param_find(str), &(accel_scale.x_offset))); (void)sprintf(str, "CAL_ACC%u_YOFF", i); - failed |= (OK != param_set_no_notification(param_find(str), &(accel_scale.y_offset))); + failed |= (PX4_OK != param_set_no_notification(param_find(str), &(accel_scale.y_offset))); (void)sprintf(str, "CAL_ACC%u_ZOFF", i); - failed |= (OK != param_set_no_notification(param_find(str), &(accel_scale.z_offset))); + failed |= (PX4_OK != param_set_no_notification(param_find(str), &(accel_scale.z_offset))); (void)sprintf(str, "CAL_ACC%u_XSCALE", i); - failed |= (OK != param_set_no_notification(param_find(str), &(accel_scale.x_scale))); + failed |= (PX4_OK != param_set_no_notification(param_find(str), &(accel_scale.x_scale))); (void)sprintf(str, "CAL_ACC%u_YSCALE", i); - failed |= (OK != param_set_no_notification(param_find(str), &(accel_scale.y_scale))); + failed |= (PX4_OK != param_set_no_notification(param_find(str), &(accel_scale.y_scale))); (void)sprintf(str, "CAL_ACC%u_ZSCALE", i); - failed |= (OK != param_set_no_notification(param_find(str), &(accel_scale.z_scale))); + failed |= (PX4_OK != param_set_no_notification(param_find(str), &(accel_scale.z_scale))); (void)sprintf(str, "CAL_ACC%u_ID", i); - failed |= (OK != param_set_no_notification(param_find(str), &(device_id[i]))); + failed |= (PX4_OK != param_set_no_notification(param_find(str), &(device_id[i]))); if (failed) { calibration_log_critical(mavlink_log_pub, CAL_ERROR_SET_PARAMS_MSG, i); - return ERROR; + return PX4_ERROR; } #if !defined(__PX4_QURT) && !defined(__PX4_POSIX_EAGLE) && !defined(__PX4_POSIX_RPI) && !defined(__PX4_POSIX_BEBOP) @@ -335,23 +329,23 @@ int do_accel_calibration(orb_advert_t *mavlink_log_pub) if (fd < 0) { calibration_log_critical(mavlink_log_pub, CAL_QGC_FAILED_MSG, "sensor does not exist"); - res = ERROR; + res = PX4_ERROR; } else { res = px4_ioctl(fd, ACCELIOCSSCALE, (long unsigned int)&accel_scale); px4_close(fd); } - if (res != OK) { + if (res != PX4_OK) { calibration_log_critical(mavlink_log_pub, CAL_ERROR_APPLY_CAL_MSG, i); } #endif } - if (res == OK) { + if (res == PX4_OK) { /* auto-save to EEPROM */ res = param_save_default(); - if (res != OK) { + if (res != PX4_OK) { calibration_log_critical(mavlink_log_pub, CAL_ERROR_SAVE_PARAMS_MSG); } @@ -579,7 +573,7 @@ int mat_invert3(float src[3][3], float dst[3][3]) src[0][2] * (src[1][0] * src[2][1] - src[1][1] * src[2][0]); if (fabsf(det) < FLT_EPSILON) { - return ERROR; // Singular matrix + return PX4_ERROR; // Singular matrix } dst[0][0] = (src[1][1] * src[2][2] - src[1][2] * src[2][1]) / det; @@ -592,7 +586,7 @@ int mat_invert3(float src[3][3], float dst[3][3]) dst[1][2] = (src[0][2] * src[1][0] - src[0][0] * src[1][2]) / det; dst[2][2] = (src[0][0] * src[1][1] - src[0][1] * src[1][0]) / det; - return OK; + return PX4_OK; } calibrate_return calculate_calibration_values(unsigned sensor, float (&accel_ref)[max_accel_sens][detect_orientation_side_count][3], float (&accel_T)[max_accel_sens][3][3], float (&accel_offs)[max_accel_sens][3], float g) @@ -616,7 +610,7 @@ calibrate_return calculate_calibration_values(unsigned sensor, float (&accel_ref /* calculate inverse matrix for A */ float mat_A_inv[3][3]; - if (mat_invert3(mat_A, mat_A_inv) != OK) { + if (mat_invert3(mat_A, mat_A_inv) != PX4_OK) { return calibrate_return_error; } diff --git a/src/modules/commander/airspeed_calibration.cpp b/src/modules/commander/airspeed_calibration.cpp index 94ca6e33dd..27f4b70808 100644 --- a/src/modules/commander/airspeed_calibration.cpp +++ b/src/modules/commander/airspeed_calibration.cpp @@ -41,6 +41,7 @@ #include "calibration_routines.h" #include "commander_helper.h" +#include #include #include #include @@ -56,12 +57,6 @@ #include #include -/* oddly, ERROR is not defined for c++ */ -#ifdef ERROR -# undef ERROR -#endif -static const int ERROR = -1; - static const char *sensor_name = "dpress"; static void feedback_calibration_failed(orb_advert_t *mavlink_log_pub) @@ -72,7 +67,7 @@ static void feedback_calibration_failed(orb_advert_t *mavlink_log_pub) int do_airspeed_calibration(orb_advert_t *mavlink_log_pub) { - int result = OK; + int result = PX4_OK; unsigned calibration_counter = 0; const unsigned maxcount = 2400; @@ -96,7 +91,7 @@ int do_airspeed_calibration(orb_advert_t *mavlink_log_pub) int fd = px4_open(AIRSPEED0_DEVICE_PATH, 0); if (fd > 0) { - if (OK == px4_ioctl(fd, AIRSPEEDIOCSSCALE, (long unsigned int)&airscale)) { + if (PX4_OK == px4_ioctl(fd, AIRSPEEDIOCSSCALE, (long unsigned int)&airscale)) { paramreset_successful = true; } else { @@ -165,7 +160,7 @@ int do_airspeed_calibration(orb_advert_t *mavlink_log_pub) int fd_scale = px4_open(AIRSPEED0_DEVICE_PATH, 0); airscale.offset_pa = diff_pres_offset; if (fd_scale > 0) { - if (OK != px4_ioctl(fd_scale, AIRSPEEDIOCSSCALE, (long unsigned int)&airscale)) { + if (PX4_OK != px4_ioctl(fd_scale, AIRSPEEDIOCSSCALE, (long unsigned int)&airscale)) { calibration_log_critical(mavlink_log_pub, "[cal] airspeed offset update failed"); } @@ -280,6 +275,6 @@ normal_return: return result; error_return: - result = ERROR; + result = PX4_ERROR; goto normal_return; } diff --git a/src/modules/commander/baro_calibration.cpp b/src/modules/commander/baro_calibration.cpp index b8236621b7..e71068e024 100644 --- a/src/modules/commander/baro_calibration.cpp +++ b/src/modules/commander/baro_calibration.cpp @@ -41,20 +41,15 @@ #include #include #include +#include #include #include #include #include #include -/* oddly, ERROR is not defined for c++ */ -#ifdef ERROR -# undef ERROR -#endif -static const int ERROR = -1; - int do_baro_calibration(orb_advert_t *mavlink_log_pub) { // TODO implement this - return ERROR; + return PX4_ERROR; } diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 7cf470ee0f..bb4cdcb14b 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -65,6 +65,7 @@ #include #include #include +#include #include #include #include @@ -107,12 +108,6 @@ #include #include -/* oddly, ERROR is not defined for c++ */ -#ifdef ERROR -# undef ERROR -#endif -static const int ERROR = -1; - typedef enum VEHICLE_MODE_FLAG { VEHICLE_MODE_FLAG_CUSTOM_MODE_ENABLED=1, /* 0b00000001 Reserved for future use. | */ @@ -1347,7 +1342,7 @@ int commander_thread_main(int argc, char *argv[]) if (status_pub == nullptr) { warnx("ERROR: orb_advertise for topic vehicle_status failed (uorb app running?).\n"); warnx("exiting."); - px4_task_exit(ERROR); + px4_task_exit(PX4_ERROR); } /* Initialize armed with all false */ @@ -3780,7 +3775,7 @@ void *commander_low_prio_loop(void *arg) case vehicle_command_s::VEHICLE_CMD_PREFLIGHT_CALIBRATION: { - int calib_ret = ERROR; + int calib_ret = PX4_ERROR; /* try to go to INIT/PREFLIGHT arming state */ if (TRANSITION_DENIED == arming_state_transition(&status, diff --git a/src/modules/commander/commander_helper.cpp b/src/modules/commander/commander_helper.cpp index 1efcc385d3..d1a309e183 100644 --- a/src/modules/commander/commander_helper.cpp +++ b/src/modules/commander/commander_helper.cpp @@ -67,12 +67,6 @@ using namespace DriverFramework; -/* oddly, ERROR is not defined for c++ */ -#ifdef ERROR -# undef ERROR -#endif -static const int ERROR = -1; - #define VEHICLE_TYPE_QUADROTOR 2 #define VEHICLE_TYPE_COAXIAL 3 #define VEHICLE_TYPE_HELICOPTER 4 @@ -136,7 +130,7 @@ int buzzer_init() if (!h_buzzer.isValid()) { PX4_WARN("Buzzer: px4_open fail\n"); - return ERROR; + return PX4_ERROR; } return PX4_OK; @@ -273,7 +267,7 @@ int led_init() if (!h_leds.isValid()) { PX4_WARN("LED: getHandle fail\n"); - return ERROR; + return PX4_ERROR; } /* the blue LED is only available on FMUv1 & AeroCore but not FMUv2 */ @@ -285,7 +279,7 @@ int led_init() /* we consider the amber led mandatory */ if (h_leds.ioctl(LED_ON, LED_AMBER)) { PX4_WARN("Amber LED: ioctl fail\n"); - return ERROR; + return PX4_ERROR; } /* switch amber off */ diff --git a/src/modules/commander/esc_calibration.cpp b/src/modules/commander/esc_calibration.cpp index 4e202d9f09..20ff73e76c 100644 --- a/src/modules/commander/esc_calibration.cpp +++ b/src/modules/commander/esc_calibration.cpp @@ -51,6 +51,7 @@ #include #include #include +#include #include #include #include "drivers/drv_pwm_output.h" @@ -60,12 +61,6 @@ #include #include -/* oddly, ERROR is not defined for c++ */ -#ifdef ERROR -# undef ERROR -#endif -static const int ERROR = -1; - int check_if_batt_disconnected(orb_advert_t *mavlink_log_pub) { struct battery_status_s battery; memset(&battery,0,sizeof(battery)); @@ -74,14 +69,14 @@ int check_if_batt_disconnected(orb_advert_t *mavlink_log_pub) { if (battery.voltage_filtered_v > 3.0f && !(hrt_absolute_time() - battery.timestamp > 500000)) { mavlink_log_info(mavlink_log_pub, "Please disconnect battery and try again!"); - return ERROR; + return PX4_ERROR; } - return OK; + return PX4_OK; } int do_esc_calibration(orb_advert_t *mavlink_log_pub, struct actuator_armed_s* armed) { - int return_code = OK; + int return_code = PX4_OK; int fd = -1; @@ -119,19 +114,19 @@ int do_esc_calibration(orb_advert_t *mavlink_log_pub, struct actuator_armed_s* a } /* tell IO/FMU that its ok to disable its safety with the switch */ - if (px4_ioctl(fd, PWM_SERVO_SET_ARM_OK, 0) != OK) { + if (px4_ioctl(fd, PWM_SERVO_SET_ARM_OK, 0) != PX4_OK) { calibration_log_critical(mavlink_log_pub, CAL_QGC_FAILED_MSG, "Unable to disable safety switch"); goto Error; } /* tell IO/FMU that the system is armed (it will output values if safety is off) */ - if (px4_ioctl(fd, PWM_SERVO_ARM, 0) != OK) { + if (px4_ioctl(fd, PWM_SERVO_ARM, 0) != PX4_OK) { calibration_log_critical(mavlink_log_pub, CAL_QGC_FAILED_MSG, "Unable to arm system"); goto Error; } /* tell IO to switch off safety without using the safety switch */ - if (px4_ioctl(fd, PWM_SERVO_SET_FORCE_SAFETY_OFF, 0) != OK) { + if (px4_ioctl(fd, PWM_SERVO_SET_FORCE_SAFETY_OFF, 0) != PX4_OK) { calibration_log_critical(mavlink_log_pub, CAL_QGC_FAILED_MSG, "Unable to force safety off"); goto Error; } @@ -175,26 +170,26 @@ Out: orb_unsubscribe(batt_sub); } if (fd != -1) { - if (px4_ioctl(fd, PWM_SERVO_SET_FORCE_SAFETY_ON, 0) != OK) { + if (px4_ioctl(fd, PWM_SERVO_SET_FORCE_SAFETY_ON, 0) != PX4_OK) { calibration_log_info(mavlink_log_pub, CAL_QGC_WARNING_MSG, "Safety switch still off"); } - if (px4_ioctl(fd, PWM_SERVO_DISARM, 0) != OK) { + if (px4_ioctl(fd, PWM_SERVO_DISARM, 0) != PX4_OK) { calibration_log_info(mavlink_log_pub, CAL_QGC_WARNING_MSG, "Servos still armed"); } - if (px4_ioctl(fd, PWM_SERVO_CLEAR_ARM_OK, 0) != OK) { + if (px4_ioctl(fd, PWM_SERVO_CLEAR_ARM_OK, 0) != PX4_OK) { calibration_log_info(mavlink_log_pub, CAL_QGC_WARNING_MSG, "Safety switch still deactivated"); } px4_close(fd); } armed->in_esc_calibration_mode = false; - if (return_code == OK) { + if (return_code == PX4_OK) { calibration_log_info(mavlink_log_pub, CAL_QGC_DONE_MSG, "esc"); } return return_code; Error: - return_code = ERROR; + return_code = PX4_ERROR; goto Out; } diff --git a/src/modules/commander/gyro_calibration.cpp b/src/modules/commander/gyro_calibration.cpp index 26fa5886a9..38fe4469d7 100644 --- a/src/modules/commander/gyro_calibration.cpp +++ b/src/modules/commander/gyro_calibration.cpp @@ -43,6 +43,7 @@ #include "commander_helper.h" #include +#include #include #include #include @@ -58,12 +59,6 @@ #include #include -/* oddly, ERROR is not defined for c++ */ -#ifdef ERROR -# undef ERROR -#endif -static const int ERROR = -1; - static const char *sensor_name = "gyro"; static const unsigned max_gyros = 3; @@ -151,7 +146,7 @@ static calibrate_return gyro_calibration_worker(int cancel_sub, void* data) int do_gyro_calibration(orb_advert_t *mavlink_log_pub) { - int res = OK; + int res = PX4_OK; gyro_worker_data_t worker_data = {}; calibration_log_info(mavlink_log_pub, CAL_QGC_STARTED_MSG, sensor_name); @@ -178,9 +173,9 @@ int do_gyro_calibration(orb_advert_t *mavlink_log_pub) worker_data.gyro_sensor_sub[s] = -1; (void)sprintf(str, "CAL_GYRO%u_ID", s); res = param_set_no_notification(param_find(str), &(worker_data.device_id[s])); - if (res != OK) { + if (res != PX4_OK) { calibration_log_critical(mavlink_log_pub, "[cal] Unable to reset CAL_GYRO%u_ID", s); - return ERROR; + return PX4_ERROR; } // Reset all offsets to 0 and scales to 1 @@ -193,40 +188,40 @@ int do_gyro_calibration(orb_advert_t *mavlink_log_pub) res = px4_ioctl(fd, GYROIOCSSCALE, (long unsigned int)&gyro_scale_zero); px4_close(fd); - if (res != OK) { + if (res != PX4_OK) { calibration_log_critical(mavlink_log_pub, CAL_ERROR_RESET_CAL_MSG, s); - return ERROR; + return PX4_ERROR; } } #else (void)sprintf(str, "CAL_GYRO%u_XOFF", s); res = param_set(param_find(str), &gyro_scale_zero.x_offset); - if (res != OK) { + if (res != PX4_OK) { PX4_ERR("unable to reset %s", str); } (void)sprintf(str, "CAL_GYRO%u_YOFF", s); res = param_set(param_find(str), &gyro_scale_zero.y_offset); - if (res != OK) { + if (res != PX4_OK) { PX4_ERR("unable to reset %s", str); } (void)sprintf(str, "CAL_GYRO%u_ZOFF", s); res = param_set(param_find(str), &gyro_scale_zero.z_offset); - if (res != OK) { + if (res != PX4_OK) { PX4_ERR("unable to reset %s", str); } (void)sprintf(str, "CAL_GYRO%u_XSCALE", s); res = param_set(param_find(str), &gyro_scale_zero.x_scale); - if (res != OK) { + if (res != PX4_OK) { PX4_ERR("unable to reset %s", str); } (void)sprintf(str, "CAL_GYRO%u_YSCALE", s); res = param_set(param_find(str), &gyro_scale_zero.y_scale); - if (res != OK) { + if (res != PX4_OK) { PX4_ERR("unable to reset %s", str); } (void)sprintf(str, "CAL_GYRO%u_ZSCALE", s); res = param_set(param_find(str), &gyro_scale_zero.z_scale); - if (res != OK) { + if (res != PX4_OK) { PX4_ERR("unable to reset %s", str); } #endif @@ -263,7 +258,7 @@ int do_gyro_calibration(orb_advert_t *mavlink_log_pub) unsigned try_count = 0; unsigned max_tries = 20; - res = ERROR; + res = PX4_ERROR; do { // Calibrate gyro and ensure user didn't move @@ -271,11 +266,11 @@ int do_gyro_calibration(orb_advert_t *mavlink_log_pub) if (cal_return == calibrate_return_cancelled) { // Cancel message already sent, we are done here - res = ERROR; + res = PX4_ERROR; break; } else if (cal_return == calibrate_return_error) { - res = ERROR; + res = PX4_ERROR; } else { /* check offsets */ @@ -294,19 +289,19 @@ int do_gyro_calibration(orb_advert_t *mavlink_log_pub) fabsf(zdiff) > maxoff) { calibration_log_critical(mavlink_log_pub, "[cal] motion, retrying.."); - res = ERROR; + res = PX4_ERROR; } else { - res = OK; + res = PX4_OK; } } try_count++; - } while (res == ERROR && try_count <= max_tries); + } while (res == PX4_ERROR && try_count <= max_tries); if (try_count >= max_tries) { calibration_log_critical(mavlink_log_pub, "[cal] ERROR: Motion during calibration"); - res = ERROR; + res = PX4_ERROR; } calibrate_cancel_unsubscribe(cancel_sub); @@ -315,26 +310,26 @@ int do_gyro_calibration(orb_advert_t *mavlink_log_pub) px4_close(worker_data.gyro_sensor_sub[s]); } - if (res == OK) { + if (res == PX4_OK) { /* set offset parameters to new values */ bool failed = false; - failed = failed || (OK != param_set_no_notification(param_find("CAL_GYRO_PRIME"), &(device_id_primary))); + failed = failed || (PX4_OK != param_set_no_notification(param_find("CAL_GYRO_PRIME"), &(device_id_primary))); for (unsigned s = 0; s < max_gyros; s++) { if (worker_data.device_id[s] != 0) { char str[30]; (void)sprintf(str, "CAL_GYRO%u_XOFF", s); - failed |= (OK != param_set_no_notification(param_find(str), &(worker_data.gyro_scale[s].x_offset))); + failed |= (PX4_OK != param_set_no_notification(param_find(str), &(worker_data.gyro_scale[s].x_offset))); (void)sprintf(str, "CAL_GYRO%u_YOFF", s); - failed |= (OK != param_set_no_notification(param_find(str), &(worker_data.gyro_scale[s].y_offset))); + failed |= (PX4_OK != param_set_no_notification(param_find(str), &(worker_data.gyro_scale[s].y_offset))); (void)sprintf(str, "CAL_GYRO%u_ZOFF", s); - failed |= (OK != param_set_no_notification(param_find(str), &(worker_data.gyro_scale[s].z_offset))); + failed |= (PX4_OK != param_set_no_notification(param_find(str), &(worker_data.gyro_scale[s].z_offset))); (void)sprintf(str, "CAL_GYRO%u_ID", s); - failed |= (OK != param_set_no_notification(param_find(str), &(worker_data.device_id[s]))); + failed |= (PX4_OK != param_set_no_notification(param_find(str), &(worker_data.device_id[s]))); #if !defined(__PX4_QURT) && !defined(__PX4_POSIX_EAGLE) && !defined(__PX4_POSIX_RPI) && !defined(__PX4_POSIX_BEBOP) /* apply new scaling and offsets */ @@ -349,7 +344,7 @@ int do_gyro_calibration(orb_advert_t *mavlink_log_pub) res = px4_ioctl(fd, GYROIOCSSCALE, (long unsigned int)&worker_data.gyro_scale[s]); px4_close(fd); - if (res != OK) { + if (res != PX4_OK) { calibration_log_critical(mavlink_log_pub, CAL_ERROR_APPLY_CAL_MSG, 1); } #endif @@ -358,7 +353,7 @@ int do_gyro_calibration(orb_advert_t *mavlink_log_pub) if (failed) { calibration_log_critical(mavlink_log_pub, "[cal] ERROR: failed to set offset params"); - res = ERROR; + res = PX4_ERROR; } } @@ -369,11 +364,11 @@ int do_gyro_calibration(orb_advert_t *mavlink_log_pub) /* store last 32bit number - not unique, but unique in a given set */ (void)param_set(param_find("CAL_BOARD_ID"), &mcu_id[2]); - if (res == OK) { + if (res == PX4_OK) { /* auto-save to EEPROM */ res = param_save_default(); - if (res != OK) { + if (res != PX4_OK) { calibration_log_critical(mavlink_log_pub, CAL_ERROR_SAVE_PARAMS_MSG); } } @@ -381,7 +376,7 @@ int do_gyro_calibration(orb_advert_t *mavlink_log_pub) /* if there is a any preflight-check system response, let the barrage of messages through */ usleep(200000); - if (res == OK) { + if (res == PX4_OK) { calibration_log_info(mavlink_log_pub, CAL_QGC_DONE_MSG, sensor_name); } else { calibration_log_info(mavlink_log_pub, CAL_QGC_FAILED_MSG, sensor_name); diff --git a/src/modules/commander/mag_calibration.cpp b/src/modules/commander/mag_calibration.cpp index 7cfcc6a700..282f6a7a47 100644 --- a/src/modules/commander/mag_calibration.cpp +++ b/src/modules/commander/mag_calibration.cpp @@ -42,6 +42,7 @@ #include "calibration_routines.h" #include "calibration_messages.h" +#include #include #include #include @@ -60,12 +61,6 @@ #include #include -/* oddly, ERROR is not defined for c++ */ -#ifdef ERROR -# undef ERROR -#endif -static const int ERROR = -1; - static const char *sensor_name = "mag"; static constexpr unsigned max_mags = 3; static constexpr float mag_sphere_radius = 0.2f; @@ -111,7 +106,7 @@ int do_mag_calibration(orb_advert_t *mavlink_log_pub) mscale_null.z_offset = 0.0f; mscale_null.z_scale = 1.0f; - int result = OK; + int result = PX4_OK; // Determine which mags are available and reset each @@ -128,39 +123,39 @@ int do_mag_calibration(orb_advert_t *mavlink_log_pub) // Reset mag id to mag not available (void)sprintf(str, "CAL_MAG%u_ID", cur_mag); result = param_set_no_notification(param_find(str), &(device_ids[cur_mag])); - if (result != OK) { + if (result != PX4_OK) { calibration_log_info(mavlink_log_pub, "[cal] Unable to reset CAL_MAG%u_ID", cur_mag); break; } #else (void)sprintf(str, "CAL_MAG%u_XOFF", cur_mag); result = param_set(param_find(str), &mscale_null.x_offset); - if (result != OK) { + if (result != PX4_OK) { PX4_ERR("unable to reset %s", str); } (void)sprintf(str, "CAL_MAG%u_YOFF", cur_mag); result = param_set(param_find(str), &mscale_null.y_offset); - if (result != OK) { + if (result != PX4_OK) { PX4_ERR("unable to reset %s", str); } (void)sprintf(str, "CAL_MAG%u_ZOFF", cur_mag); result = param_set(param_find(str), &mscale_null.z_offset); - if (result != OK) { + if (result != PX4_OK) { PX4_ERR("unable to reset %s", str); } (void)sprintf(str, "CAL_MAG%u_XSCALE", cur_mag); result = param_set(param_find(str), &mscale_null.x_scale); - if (result != OK) { + if (result != PX4_OK) { PX4_ERR("unable to reset %s", str); } (void)sprintf(str, "CAL_MAG%u_YSCALE", cur_mag); result = param_set(param_find(str), &mscale_null.y_scale); - if (result != OK) { + if (result != PX4_OK) { PX4_ERR("unable to reset %s", str); } (void)sprintf(str, "CAL_MAG%u_ZSCALE", cur_mag); result = param_set(param_find(str), &mscale_null.z_scale); - if (result != OK) { + if (result != PX4_OK) { PX4_ERR("unable to reset %s", str); } #endif @@ -181,18 +176,18 @@ int do_mag_calibration(orb_advert_t *mavlink_log_pub) // Reset mag scale result = px4_ioctl(fd, MAGIOCSSCALE, (long unsigned int)&mscale_null); - if (result != OK) { + if (result != PX4_OK) { calibration_log_critical(mavlink_log_pub, CAL_ERROR_RESET_CAL_MSG, cur_mag); } /* calibrate range */ - if (result == OK) { + if (result == PX4_OK) { result = px4_ioctl(fd, MAGIOCCALIBRATE, fd); - if (result != OK) { + if (result != PX4_OK) { calibration_log_info(mavlink_log_pub, "[cal] Skipped scale calibration, sensor %u", cur_mag); /* this is non-fatal - mark it accordingly */ - result = OK; + result = PX4_OK; } } @@ -201,11 +196,11 @@ int do_mag_calibration(orb_advert_t *mavlink_log_pub) } // Calibrate all mags at the same time - if (result == OK) { + if (result == PX4_OK) { switch (mag_calibrate_all(mavlink_log_pub)) { case calibrate_return_cancelled: // Cancel message already displayed, we're done here - result = ERROR; + result = PX4_ERROR; break; case calibrate_return_ok: @@ -215,7 +210,7 @@ int do_mag_calibration(orb_advert_t *mavlink_log_pub) /* if there is a any preflight-check system response, let the barrage of messages through */ usleep(200000); - if (result == OK) { + if (result == PX4_OK) { calibration_log_info(mavlink_log_pub, CAL_QGC_PROGRESS_MSG, 100); usleep(20000); calibration_log_info(mavlink_log_pub, CAL_QGC_DONE_MSG, sensor_name); @@ -680,7 +675,7 @@ calibrate_return mag_calibrate_all(orb_advert_t *mavlink_log_pub) } if (result == calibrate_return_ok) { - if (px4_ioctl(fd_mag, MAGIOCGSCALE, (long unsigned int)&mscale) != OK) { + if (px4_ioctl(fd_mag, MAGIOCGSCALE, (long unsigned int)&mscale) != PX4_OK) { calibration_log_critical(mavlink_log_pub, "[cal] ERROR: failed to get current calibration #%u", cur_mag); result = calibrate_return_error; } @@ -693,7 +688,7 @@ calibrate_return mag_calibrate_all(orb_advert_t *mavlink_log_pub) mscale.z_offset = sphere_z[cur_mag]; #if !defined(__PX4_QURT) && !defined(__PX4_POSIX_RPI) && !defined(__PX4_POSIX_BEBOP) - if (px4_ioctl(fd_mag, MAGIOCSSCALE, (long unsigned int)&mscale) != OK) { + if (px4_ioctl(fd_mag, MAGIOCSSCALE, (long unsigned int)&mscale) != PX4_OK) { calibration_log_critical(mavlink_log_pub, CAL_ERROR_APPLY_CAL_MSG, cur_mag); result = calibrate_return_error; } @@ -713,22 +708,22 @@ calibrate_return mag_calibrate_all(orb_advert_t *mavlink_log_pub) /* set parameters */ (void)sprintf(str, "CAL_MAG%u_ID", cur_mag); - failed |= (OK != param_set_no_notification(param_find(str), &(device_ids[cur_mag]))); + failed |= (PX4_OK != param_set_no_notification(param_find(str), &(device_ids[cur_mag]))); (void)sprintf(str, "CAL_MAG%u_XOFF", cur_mag); - failed |= (OK != param_set_no_notification(param_find(str), &(mscale.x_offset))); + failed |= (PX4_OK != param_set_no_notification(param_find(str), &(mscale.x_offset))); (void)sprintf(str, "CAL_MAG%u_YOFF", cur_mag); - failed |= (OK != param_set_no_notification(param_find(str), &(mscale.y_offset))); + failed |= (PX4_OK != param_set_no_notification(param_find(str), &(mscale.y_offset))); (void)sprintf(str, "CAL_MAG%u_ZOFF", cur_mag); - failed |= (OK != param_set_no_notification(param_find(str), &(mscale.z_offset))); + failed |= (PX4_OK != param_set_no_notification(param_find(str), &(mscale.z_offset))); // FIXME: scaling is not used right now on QURT #ifndef __PX4_QURT (void)sprintf(str, "CAL_MAG%u_XSCALE", cur_mag); - failed |= (OK != param_set_no_notification(param_find(str), &(mscale.x_scale))); + failed |= (PX4_OK != param_set_no_notification(param_find(str), &(mscale.x_scale))); (void)sprintf(str, "CAL_MAG%u_YSCALE", cur_mag); - failed |= (OK != param_set_no_notification(param_find(str), &(mscale.y_scale))); + failed |= (PX4_OK != param_set_no_notification(param_find(str), &(mscale.y_scale))); (void)sprintf(str, "CAL_MAG%u_ZSCALE", cur_mag); - failed |= (OK != param_set_no_notification(param_find(str), &(mscale.z_scale))); + failed |= (PX4_OK != param_set_no_notification(param_find(str), &(mscale.z_scale))); #endif if (failed) { diff --git a/src/modules/commander/rc_calibration.cpp b/src/modules/commander/rc_calibration.cpp index fa99b4da27..b1af8452aa 100644 --- a/src/modules/commander/rc_calibration.cpp +++ b/src/modules/commander/rc_calibration.cpp @@ -38,6 +38,7 @@ #include #include +#include #include "rc_calibration.h" #include "commander_helper.h" @@ -50,12 +51,6 @@ #include #include -/* oddly, ERROR is not defined for c++ */ -#ifdef ERROR -# undef ERROR -#endif -static const int ERROR = -1; - int do_trim_calibration(orb_advert_t *mavlink_log_pub) { int sub_man = orb_subscribe(ORB_ID(manual_control_setpoint)); @@ -66,7 +61,7 @@ int do_trim_calibration(orb_advert_t *mavlink_log_pub) if (!changed) { mavlink_log_critical(mavlink_log_pub, "no inputs, aborting"); - return ERROR; + return PX4_ERROR; } orb_copy(ORB_ID(manual_control_setpoint), sub_man, &sp); @@ -108,10 +103,10 @@ int do_trim_calibration(orb_advert_t *mavlink_log_pub) if (save_ret != 0 || p1r != 0 || p2r != 0 || p3r != 0) { mavlink_log_critical(mavlink_log_pub, "TRIM: PARAM SET FAIL"); px4_close(sub_man); - return ERROR; + return PX4_ERROR; } mavlink_log_info(mavlink_log_pub, "trim cal done"); px4_close(sub_man); - return OK; + return PX4_OK; } diff --git a/src/modules/fw_att_control/fw_att_control_main.cpp b/src/modules/fw_att_control/fw_att_control_main.cpp index a7e0f41a30..983f59944a 100644 --- a/src/modules/fw_att_control/fw_att_control_main.cpp +++ b/src/modules/fw_att_control/fw_att_control_main.cpp @@ -108,7 +108,7 @@ public: /** * Start the main task. * - * @return OK on success. + * @return PX4_OK on success. */ int start(); @@ -344,12 +344,6 @@ private: namespace att_control { -/* oddly, ERROR is not defined for c++ */ -#ifdef ERROR -# undef ERROR -#endif -static const int ERROR = -1; - FixedwingAttitudeControl *g_control = nullptr; } @@ -583,7 +577,7 @@ FixedwingAttitudeControl::parameters_update() _wheel_ctrl.set_integrator_max(_parameters.w_integrator_max); _wheel_ctrl.set_max_rate(math::radians(_parameters.w_rmax)); - return OK; + return PX4_OK; } void @@ -1221,7 +1215,7 @@ FixedwingAttitudeControl::start() return -errno; } - return OK; + return PX4_OK; } int fw_att_control_main(int argc, char *argv[]) @@ -1245,7 +1239,7 @@ int fw_att_control_main(int argc, char *argv[]) return 1; } - if (OK != att_control::g_control->start()) { + if (PX4_OK != att_control::g_control->start()) { delete att_control::g_control; att_control::g_control = nullptr; warn("start failed"); diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp index 1287b120b3..b6403c05fd 100644 --- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp +++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp @@ -525,12 +525,6 @@ private: namespace l1_control { -/* oddly, ERROR is not defined for c++ */ -#ifdef ERROR -# undef ERROR -#endif -static const int ERROR = -1; - FixedwingPositionControl *g_control = nullptr; } diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp index 2b4008878d..6e6291bde3 100644 --- a/src/modules/mavlink/mavlink_main.cpp +++ b/src/modules/mavlink/mavlink_main.cpp @@ -40,6 +40,7 @@ */ #include +#include #include #include #include @@ -92,12 +93,6 @@ #error MAVLINK_CRC_EXTRA has to be defined on PX4 systems #endif -/* oddly, ERROR is not defined for c++ */ -#ifdef ERROR -# undef ERROR -#endif -static const int ERROR = -1; - #define DEFAULT_REMOTE_PORT_UDP 14550 ///< GCS port per MAVLink spec #define DEFAULT_DEVICE_NAME "/dev/ttyS1" #define MAX_DATA_RATE 10000000 ///< max data rate in bytes/s @@ -439,8 +434,8 @@ Mavlink::destroy_all_instances() iterations++; if (iterations > 1000) { - warnx("ERROR: Couldn't stop all mavlink instances."); - return ERROR; + PX4_ERR("Couldn't stop all mavlink instances."); + return PX4_ERROR; } } @@ -695,7 +690,7 @@ int Mavlink::mavlink_open_uart(int baud, const char *uart_name) case 1000000: speed = B1000000; break; default: - warnx("ERROR: Unsupported baudrate: %d\n\tsupported examples:\n\t9600, 19200, 38400, 57600\t\n115200\n230400\n460800\n921600\n1000000\n", + PX4_ERR("Unsupported baudrate: %d\n\tsupported examples:\n\t9600, 19200, 38400, 57600\t\n115200\n230400\n460800\n921600\n1000000\n", baud); return -EINVAL; } @@ -862,7 +857,7 @@ Mavlink::set_hil_enabled(bool hil_enabled) configure_stream("HIL_CONTROLS", 0.0f); } else { - ret = ERROR; + ret = PX4_ERROR; } return ret; @@ -1362,7 +1357,7 @@ Mavlink::configure_stream(const char *stream_name, const float rate) /* if we reach here, the stream list does not contain the stream */ warnx("stream %s not found", stream_name); - return ERROR; + return PX4_ERROR; } void @@ -1432,7 +1427,7 @@ Mavlink::message_buffer_init(int size) int ret; if (_message_buffer.data == 0) { - ret = ERROR; + ret = PX4_ERROR; _message_buffer.size = 0; } else { @@ -1824,7 +1819,7 @@ Mavlink::task_main(int argc, char *argv[]) if (err_flag) { usage(); - return ERROR; + return PX4_ERROR; } if (_datarate == 0) { @@ -1839,7 +1834,7 @@ Mavlink::task_main(int argc, char *argv[]) if (get_protocol() == SERIAL) { if (Mavlink::instance_exists(_device_name, this)) { warnx("%s already running", _device_name); - return ERROR; + return PX4_ERROR; } PX4_INFO("mode: %s, data rate: %d B/s on %s @ %dB", @@ -1853,7 +1848,7 @@ Mavlink::task_main(int argc, char *argv[]) if (_uart_fd < 0 && _mode != MAVLINK_MODE_CONFIG) { warn("could not open %s", _device_name); - return ERROR; + return PX4_ERROR; } else if (_uart_fd < 0 && _mode == MAVLINK_MODE_CONFIG) { /* the config link is optional */ @@ -1863,7 +1858,7 @@ Mavlink::task_main(int argc, char *argv[]) } else if (get_protocol() == UDP) { if (Mavlink::get_instance_for_network_port(_network_port) != nullptr) { warnx("port %d already occupied", _network_port); - return ERROR; + return PX4_ERROR; } PX4_INFO("mode: %s, data rate: %d B/s on udp port %hu remote port %hu", diff --git a/src/modules/mavlink/mavlink_mission.cpp b/src/modules/mavlink/mavlink_mission.cpp index 925cb22dac..1dffaabd6e 100644 --- a/src/modules/mavlink/mavlink_mission.cpp +++ b/src/modules/mavlink/mavlink_mission.cpp @@ -47,18 +47,13 @@ #include #include #include +#include #include #include #include #include -/* oddly, ERROR is not defined for c++ */ -#ifdef ERROR -# undef ERROR -#endif -static const int ERROR = -1; - int MavlinkMissionManager::_dataman_id = 0; bool MavlinkMissionManager::_dataman_init = false; unsigned MavlinkMissionManager::_count = 0; @@ -178,7 +173,7 @@ MavlinkMissionManager::update_active_mission(int dataman_id, unsigned count, int orb_publish(ORB_ID(offboard_mission), _offboard_mission_pub, &mission); } - return OK; + return PX4_OK; } else { warnx("WPM: ERROR: can't save mission state"); @@ -187,7 +182,7 @@ MavlinkMissionManager::update_active_mission(int dataman_id, unsigned count, int _mavlink->send_statustext_critical("Mission storage: Unable to write to microSD"); } - return ERROR; + return PX4_ERROR; } } @@ -507,7 +502,7 @@ MavlinkMissionManager::handle_mission_set_current(const mavlink_message_t *msg) _time_last_recv = hrt_absolute_time(); if (wpc.seq < _count) { - if (update_active_mission(_dataman_id, _count, wpc.seq) == OK) { + if (update_active_mission(_dataman_id, _count, wpc.seq) == PX4_OK) { if (_verbose) { warnx("WPM: MISSION_SET_CURRENT seq=%d OK", wpc.seq); } } else { @@ -792,7 +787,7 @@ MavlinkMissionManager::handle_mission_item_both(const mavlink_message_t *msg) int ret = parse_mavlink_mission_item(&wp, &mission_item); - if (ret != OK) { + if (ret != PX4_OK) { if (_verbose) { warnx("WPM: MISSION_ITEM ERROR: seq %u invalid item", wp.seq); } _mavlink->send_statustext_critical("IGN MISSION_ITEM: Busy"); @@ -831,7 +826,7 @@ MavlinkMissionManager::handle_mission_item_both(const mavlink_message_t *msg) _state = MAVLINK_WPM_STATE_IDLE; - if (update_active_mission(_transfer_dataman_id, _transfer_count, _transfer_current_seq) == OK) { + if (update_active_mission(_transfer_dataman_id, _transfer_count, _transfer_current_seq) == PX4_OK) { send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ACCEPTED); } else { @@ -860,7 +855,7 @@ MavlinkMissionManager::handle_mission_clear_all(const mavlink_message_t *msg) /* don't touch mission items storage itself, but only items count in mission state */ _time_last_recv = hrt_absolute_time(); - if (update_active_mission(_dataman_id == 0 ? 1 : 0, 0, 0) == OK) { + if (update_active_mission(_dataman_id == 0 ? 1 : 0, 0, 0) == PX4_OK) { if (_verbose) { warnx("WPM: CLEAR_ALL OK"); } send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ACCEPTED); @@ -1050,7 +1045,7 @@ MavlinkMissionManager::format_mavlink_mission_item(const struct mission_item_s * break; default: - return ERROR; + return PX4_ERROR; } } else { @@ -1122,11 +1117,11 @@ MavlinkMissionManager::format_mavlink_mission_item(const struct mission_item_s * break; default: - return ERROR; + return PX4_ERROR; } } - return OK; + return PX4_OK; } diff --git a/src/modules/navigator/geofence.cpp b/src/modules/navigator/geofence.cpp index 9485180368..12601a64b9 100644 --- a/src/modules/navigator/geofence.cpp +++ b/src/modules/navigator/geofence.cpp @@ -49,6 +49,7 @@ #include #include #include +#include #include #include #include @@ -56,13 +57,6 @@ #define GEOFENCE_RANGE_WARNING_LIMIT 5000000 -/* Oddly, ERROR is not defined for C++ */ -#ifdef ERROR -# undef ERROR -#endif -static const int ERROR = -1; - - Geofence::Geofence(Navigator *navigator) : SuperBlock(NULL, "GF"), _navigator(navigator), @@ -323,7 +317,7 @@ Geofence::loadFromFile(const char *filename) int pointCounter = 0; bool gotVertical = false; const char commentChar = '#'; - int rc = ERROR; + int rc = PX4_ERROR; /* Make sure no data is left in the datamanager */ clearDm(); @@ -332,7 +326,7 @@ Geofence::loadFromFile(const char *filename) fp = fopen(GEOFENCE_FILENAME, "r"); if (fp == NULL) { - return ERROR; + return PX4_ERROR; } /* create geofence points from valid lines and store in DM */ @@ -408,7 +402,7 @@ Geofence::loadFromFile(const char *filename) _vertices_count = pointCounter; warnx("Geofence: imported successfully"); mavlink_log_info(_navigator->get_mavlink_log_pub(), "Geofence imported"); - rc = OK; + rc = PX4_OK; } else { warnx("Geofence: import error"); @@ -423,5 +417,5 @@ error: int Geofence::clearDm() { dm_clear(DM_KEY_FENCE_POINTS); - return OK; + return PX4_OK; } diff --git a/src/platforms/posix/drivers/airspeedsim/airspeedsim.h b/src/platforms/posix/drivers/airspeedsim/airspeedsim.h index 91db618d9b..ce87495c3f 100644 --- a/src/platforms/posix/drivers/airspeedsim/airspeedsim.h +++ b/src/platforms/posix/drivers/airspeedsim/airspeedsim.h @@ -39,8 +39,7 @@ */ #include - -//#include +#include #include #include @@ -55,10 +54,6 @@ #include #include -//#include -//#include -//#include - #include #include @@ -79,12 +74,6 @@ /* Default I2C bus */ #define PX4_I2C_BUS_DEFAULT PX4_I2C_BUS_EXPANSION -/* Oddly, ERROR is not defined for C++ */ -#ifdef ERROR -# undef ERROR -#endif -static const int ERROR = -1; - #ifndef CONFIG_SCHED_WORKQUEUE # error This requires CONFIG_SCHED_WORKQUEUE. #endif diff --git a/src/platforms/posix/drivers/gpssim/gpssim.cpp b/src/platforms/posix/drivers/gpssim/gpssim.cpp index 8eb462585a..5bf296b9da 100644 --- a/src/platforms/posix/drivers/gpssim/gpssim.cpp +++ b/src/platforms/posix/drivers/gpssim/gpssim.cpp @@ -37,6 +37,7 @@ */ #include +#include #include #include #include @@ -72,12 +73,6 @@ using namespace DriverFramework; #define TIMEOUT_5HZ 500 #define RATE_MEASUREMENT_PERIOD 5000000 -/* oddly, ERROR is not defined for c++ */ -#ifdef ERROR -# undef ERROR -#endif -static const int ERROR = -1; - /* class for dynamic allocation of satellite info data */ class GPS_Sat_Info { @@ -220,7 +215,7 @@ GPSSIM::~GPSSIM() int GPSSIM::init() { - int ret = ERROR; + int ret = PX4_ERROR; /* do regular cdev init */ if (VirtDevObj::init() != OK) {