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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/esc_calibration.cpp
+12 -17
View File
@@ -51,6 +51,7 @@
#include <sys/ioctl.h>
#include <systemlib/err.h>
#include <fcntl.h>
#include <px4_defines.h>
#include <px4_posix.h>
#include <px4_time.h>
#include "drivers/drv_pwm_output.h"
@@ -60,12 +61,6 @@
#include <drivers/drv_hrt.h>
#include <systemlib/mavlink_log.h>
/* 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;
}