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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/mag_calibration.cpp
+25 -30
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@@ -42,6 +42,7 @@
#include "calibration_routines.h"
#include "calibration_messages.h"
#include <px4_defines.h>
#include <px4_posix.h>
#include <px4_time.h>
#include <stdio.h>
@@ -60,12 +61,6 @@
#include <systemlib/param/param.h>
#include <systemlib/err.h>
/* 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) {