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ERROR macro: get rid of the many 'oddly, ERROR is not defined for c++', use PX4_ERROR

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This commit is contained in:
Beat Küng
2016-09-20 10:30:18 +02:00
committed by Julian Oes
parent c606554da3
commit 241fd629ce
42 changed files with 207 additions and 504 deletions
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src/modules/commander/accelerometer_calibration.cpp
+31 -37
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@@ -127,13 +127,13 @@
#include "calibration_routines.h"
#include "commander_helper.h"
#include <px4_defines.h>
#include <px4_posix.h>
#include <px4_time.h>
#include <unistd.h>
#include <stdio.h>
#include <poll.h>
#include <fcntl.h>
//#include <sys/prctl.h>
#include <math.h>
#include <poll.h>
#include <float.h>
@@ -148,12 +148,6 @@
#include <systemlib/mavlink_log.h>
#include <uORB/topics/vehicle_attitude.h>
/* 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;
}