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ekf2:Use inttypes and fix types

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This commit is contained in:
David Sidrane
2021-04-22 05:50:15 -07:00
committed by Julian Oes
parent ed474794cc
commit 9a423e222b
3 changed files with 13 additions and 13 deletions
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src/modules/ekf2/EKF2.cpp
+9 -9
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@@ -1562,14 +1562,14 @@ void EKF2::UpdateMagSample(ekf2_timestamps_s &ekf2_timestamps)
// check if magnetometer has changed
if (magnetometer.device_id != _device_id_mag) {
if (_device_id_mag != 0) {
PX4_WARN("%d - mag sensor ID changed %d -> %d", _instance, _device_id_mag, magnetometer.device_id);
PX4_WARN("%d - mag sensor ID changed %" PRIu32 " -> %" PRIu32, _instance, _device_id_mag, magnetometer.device_id);
}
reset = true;
} else if (magnetometer.calibration_count > _mag_calibration_count) {
// existing calibration has changed, reset saved mag bias
PX4_DEBUG("%d - mag %d calibration updated, resetting bias", _instance, _device_id_mag);
PX4_DEBUG("%d - mag %" PRIu32 " calibration updated, resetting bias", _instance, _device_id_mag);
reset = true;
}
@@ -1732,8 +1732,8 @@ int EKF2::task_spawn(int argc, char *argv[])
param_get(param_find("EKF2_MULTI_IMU"), &imu_instances);
if (imu_instances < 1 || imu_instances > 4) {
const int32_t imu_instances_limited = math::constrain(imu_instances, 1, 4);
PX4_WARN("EKF2_MULTI_IMU limited %d -> %d", imu_instances, imu_instances_limited);
const int32_t imu_instances_limited = math::constrain(imu_instances, static_cast<int32_t>(1), static_cast<int32_t>(4));
PX4_WARN("EKF2_MULTI_IMU limited %" PRId32 " -> %" PRId32, imu_instances, imu_instances_limited);
param_set_no_notification(param_find("EKF2_MULTI_IMU"), &imu_instances_limited);
imu_instances = imu_instances_limited;
}
@@ -1746,8 +1746,8 @@ int EKF2::task_spawn(int argc, char *argv[])
// Mags (1 - 4 supported)
if (mag_instances < 1 || mag_instances > 4) {
const int32_t mag_instances_limited = math::constrain(mag_instances, 1, 4);
PX4_WARN("EKF2_MULTI_MAG limited %d -> %d", mag_instances, mag_instances_limited);
const int32_t mag_instances_limited = math::constrain(mag_instances, static_cast<int32_t>(1), static_cast<int32_t>(4));
PX4_WARN("EKF2_MULTI_MAG limited %" PRId32 " -> %" PRId32, mag_instances, mag_instances_limited);
param_set_no_notification(param_find("EKF2_MULTI_MAG"), &mag_instances_limited);
mag_instances = mag_instances_limited;
}
@@ -1772,7 +1772,7 @@ int EKF2::task_spawn(int argc, char *argv[])
}
const hrt_abstime time_started = hrt_absolute_time();
const int multi_instances = math::min(imu_instances * mag_instances, (int)EKF2_MAX_INSTANCES);
const int multi_instances = math::min(imu_instances * mag_instances, static_cast<int32_t>(EKF2_MAX_INSTANCES));
int multi_instances_allocated = 0;
// allocate EKF2 instances until all found or arming
@@ -1817,7 +1817,7 @@ int EKF2::task_spawn(int argc, char *argv[])
_ekf2_selector.load()->ScheduleNow();
}
PX4_INFO("starting instance %d, IMU:%d (%d), MAG:%d (%d)", actual_instance,
PX4_INFO("starting instance %d, IMU:%" PRIu8 " (%" PRIu32 "), MAG:%" PRIu8 " (%" PRIu32 ")", actual_instance,
imu, vehicle_imu_sub.get().accel_device_id,
mag, vehicle_mag_sub.get().device_id);
@@ -1831,7 +1831,7 @@ int EKF2::task_spawn(int argc, char *argv[])
}
} else {
PX4_ERR("alloc and init failed imu: %d mag:%d", imu, mag);
PX4_ERR("alloc and init failed imu: %" PRIu8 " mag:%" PRIu8, imu, mag);
px4_usleep(1000000);
break;
}