Merge pull request #2647 from mcharleb/qurt-build-fixes

Fixes for posix-arm and qurt builds

src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp

@@ -47,7 +47,6 @@
 #include <poll.h>
 #include <fcntl.h>
 #include <float.h>
-#include <termios.h>
 #include <errno.h>
 #include <limits.h>
 #include <math.h>

src/modules/mc_att_control/mc_att_control_main.cpp

@@ -137,7 +137,6 @@ private:
 	int		_vehicle_status_sub;	/**< vehicle status subscription */
 	int 	_motor_limits_sub;		/**< motor limits subscription */
 
-	orb_advert_t	_att_sp_pub;			/**< attitude setpoint publication */
 	orb_advert_t	_v_rates_sp_pub;		/**< rate setpoint publication */
 	orb_advert_t	_actuators_0_pub;		/**< attitude actuator controls publication */
 	orb_advert_t	_controller_status_pub;	/**< controller status publication */
@@ -170,8 +169,6 @@ private:
 
 	math::Matrix<3, 3>  _I;				/**< identity matrix */
 
-	bool	_reset_yaw_sp;			/**< reset yaw setpoint flag */
-
 	struct {
 		param_t roll_p;
 		param_t roll_rate_p;
@@ -315,7 +312,6 @@ MulticopterAttitudeControl::MulticopterAttitudeControl() :
 	_vehicle_status_sub(-1),
 
 /* publications */
-	_att_sp_pub(nullptr),
 	_v_rates_sp_pub(nullptr),
 	_actuators_0_pub(nullptr),
 	_controller_status_pub(nullptr),

src/modules/muorb/adsp/uORBFastRpcChannel.cpp

@@ -457,7 +457,7 @@ int16_t uORB::FastRpcChannel::get_bulk_data
 	}
 
 	if (topic_count_to_return != *topic_count) {
-		PX4_WARN("Not sending all topics: topics_to_return:[%d] topics_returning:[%d]", topic_count_to_return, *topic_count);
+		PX4_WARN("Not sending all topics: topics_to_return:[%ld] topics_returning:[%ld]", topic_count_to_return, *topic_count);
 	}
 
 	_QueueMutex.unlock();
@@ -539,7 +539,7 @@ int32_t uORB::FastRpcChannel::copy_data_to_buffer(int32_t src_index, uint8_t *ds
 
 	} else {
 		PX4_WARN("Error coping the DataMsg to dst buffer, insuffienct space. ");
-		PX4_WARN("... offset[%d] len[%d] data_msg_len[%d]",
+		PX4_WARN("... offset[%ld] len[%ld] data_msg_len[%ld]",
 			 offset, dst_buffer_len, (field_data_offset - offset) + _DataMsgQueue[ src_index ]._Length);
 	}
 

src/modules/position_estimator_inav/position_estimator_inav_main.c

@@ -46,8 +46,6 @@
 #include <fcntl.h>
 #include <string.h>
 #include <px4_config.h>
-#include <sys/prctl.h>
-#include <termios.h>
 #include <math.h>
 #include <float.h>
 #include <uORB/uORB.h>
@@ -187,11 +185,11 @@ int position_estimator_inav_main(int argc, char *argv[])
 	return 1;
 }
 
+#ifdef INAV_DEBUG
 static void write_debug_log(const char *msg, float dt, float x_est[2], float y_est[2], float z_est[2], float x_est_prev[2], float y_est_prev[2], float z_est_prev[2],
 	float acc[3], float corr_gps[3][2], float w_xy_gps_p, float w_xy_gps_v, float corr_mocap[3][1], float w_mocap_p,
 	float corr_vision[3][2], float w_xy_vision_p, float w_z_vision_p, float w_xy_vision_v)
 {
-	return;
 	FILE *f = fopen(PX4_ROOTFSDIR"/fs/microsd/inav.log", "a");
 
 	if (f) {
@@ -216,6 +214,9 @@ static void write_debug_log(const char *msg, float dt, float x_est[2], float y_e
 	fsync(fileno(f));
 	fclose(f);
 }
+#else
+#define write_debug_log(...) 
+#endif
 
 /****************************************************************************
  * main

src/modules/simulator/simulator.h

@@ -210,8 +210,9 @@ private:
 	_baro_pub(nullptr),
 	_gyro_pub(nullptr),
 	_mag_pub(nullptr),
-	_initialized(false),
+	_initialized(false)
 #ifndef __PX4_QURT
+	,
 	_rc_channels_pub(nullptr),
 	_actuator_outputs_sub(-1),
 	_vehicle_attitude_sub(-1),