Merge branch 'master' into dataman_state_nav_rewrite

src/modules/mavlink/mavlink_main.cpp

@@ -470,7 +470,7 @@ Mavlink::get_instance_id()
 	return _instance_id;
 }
 
-const mavlink_channel_t
+mavlink_channel_t
 Mavlink::get_channel()
 {
 	return _channel;
@@ -1472,7 +1472,7 @@ Mavlink::task_main(int argc, char *argv[])
                 write_ptr = (uint8_t*)&msg;
 
                 // Pull a single message from the buffer
-                int read_count = available;
+                size_t read_count = available;
                 if (read_count > sizeof(mavlink_message_t)) {
                     read_count = sizeof(mavlink_message_t);
                 }

src/modules/mavlink/mavlink_main.h

@@ -172,9 +172,9 @@ public:
 	 */
 	int			enable_flow_control(bool enabled);
 
-	const mavlink_channel_t	get_channel();
+	mavlink_channel_t	get_channel();
 
-	void configure_stream_threadsafe(const char *stream_name, const float rate);
+	void configure_stream_threadsafe(const char *stream_name, float rate);
 
 	bool			_task_should_exit;	/**< if true, mavlink task should exit */
 
@@ -270,15 +270,15 @@ private:
 
 	pthread_mutex_t		_message_buffer_mutex;
 
-	perf_counter_t		_loop_perf;			/**< loop performance counter */
-	perf_counter_t		_txerr_perf;			/**< TX error counter */
-
 	bool			_param_initialized;
 	param_t			_param_system_id;
 	param_t			_param_component_id;
 	param_t			_param_system_type;
 	param_t			_param_use_hil_gps;
 
+	perf_counter_t		_loop_perf;			/**< loop performance counter */
+	perf_counter_t		_txerr_perf;			/**< TX error counter */
+
 	/**
 	 * Send one parameter.
 	 *

src/modules/mavlink/mavlink_messages.cpp

@@ -45,7 +45,6 @@
 
 #include <uORB/uORB.h>
 #include <uORB/topics/sensor_combined.h>
-#include <uORB/topics/rc_channels.h>
 #include <uORB/topics/vehicle_attitude.h>
 #include <uORB/topics/vehicle_gps_position.h>
 #include <uORB/topics/vehicle_global_position.h>
@@ -678,7 +677,7 @@ protected:
 						     cm_uint16_from_m_float(gps.epv),
 						     gps.vel_m_s * 100.0f,
 						     _wrap_2pi(gps.cog_rad) * M_RAD_TO_DEG_F * 1e2f,
-						     gps.satellites_visible);
+						     gps.satellites_used);
 		}
 	}
 };

src/modules/mavlink/mavlink_receiver.cpp

@@ -740,7 +740,6 @@ MavlinkReceiver::handle_message_hil_gps(mavlink_message_t *msg)
 
 	hil_gps.timestamp_variance = timestamp;
 	hil_gps.s_variance_m_s = 5.0f;
-	hil_gps.p_variance_m = hil_gps.eph * hil_gps.eph;
 
 	hil_gps.timestamp_velocity = timestamp;
 	hil_gps.vel_m_s = (float)gps.vel * 1e-2f; // from cm/s to m/s
@@ -750,9 +749,8 @@ MavlinkReceiver::handle_message_hil_gps(mavlink_message_t *msg)
 	hil_gps.vel_ned_valid = true;
 	hil_gps.cog_rad = _wrap_pi(gps.cog * M_DEG_TO_RAD_F * 1e-2f);
 
-	hil_gps.timestamp_satellites = timestamp;
 	hil_gps.fix_type = gps.fix_type;
-	hil_gps.satellites_visible = gps.satellites_visible;
+	hil_gps.satellites_used = gps.satellites_visible;  //TODO: rename mavlink_hil_gps_t sats visible to used?
 
 	if (_gps_pub < 0) {
 		_gps_pub = orb_advertise(ORB_ID(vehicle_gps_position), &hil_gps);

src/modules/mavlink/mavlink_stream.cpp

@@ -44,10 +44,10 @@
 #include "mavlink_main.h"
 
 MavlinkStream::MavlinkStream() :
-	_last_sent(0),
+	next(nullptr),
 	_channel(MAVLINK_COMM_0),
 	_interval(1000000),
-	next(nullptr)
+	_last_sent(0)
 {
 }