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fix all sign-compare warnings

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This commit is contained in:
Daniel Agar
2018-07-01 09:36:55 +00:00
committed by Lorenz Meier
parent cf74166801
commit 9ce83f2208
54 changed files with 106 additions and 129 deletions
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src/modules/ekf2/CMakeLists.txt
-1
View File
@@ -34,7 +34,6 @@ px4_add_module(
MODULE modules__ekf2
MAIN ekf2
COMPILE_FLAGS
-Wno-sign-compare # TODO: fix all sign-compare
STACK_MAIN 2500
STACK_MAX 4000
SRCS
src/modules/ekf2/ekf2_main.cpp
+5 -6
View File
@@ -130,8 +130,7 @@ private:
float _mag_data_sum[3] = {}; ///< summed magnetometer readings (Gauss)
uint64_t _mag_time_sum_ms = 0; ///< summed magnetoemter time stamps (mSec)
uint8_t _mag_sample_count = 0; ///< number of magnetometer measurements summed during downsampling
uint32_t _mag_time_ms_last_used =
0; ///< time stamp of the last averaged magnetometer measurement sent to the EKF (mSec)
int32_t _mag_time_ms_last_used = 0; ///< time stamp of the last averaged magnetometer measurement sent to the EKF (mSec)
// Used to down sample barometer data
float _balt_data_sum = 0.0f; ///< summed pressure altitude readings (m)
@@ -724,7 +723,7 @@ void Ekf2::run()
// Do not reset parmameters when armed to prevent potential time slips casued by parameter set
// and notification events
// Check if there has been a persistant change in magnetometer ID
if (sensor_selection.mag_device_id != 0 && sensor_selection.mag_device_id != _mag_bias_id.get()) {
if (sensor_selection.mag_device_id != 0 && sensor_selection.mag_device_id != (uint32_t)_mag_bias_id.get()) {
if (_invalid_mag_id_count < 200) {
_invalid_mag_id_count++;
}
@@ -759,9 +758,9 @@ void Ekf2::run()
_mag_data_sum[0] += magnetometer.magnetometer_ga[0];
_mag_data_sum[1] += magnetometer.magnetometer_ga[1];
_mag_data_sum[2] += magnetometer.magnetometer_ga[2];
uint32_t mag_time_ms = _mag_time_sum_ms / _mag_sample_count;
int32_t mag_time_ms = _mag_time_sum_ms / _mag_sample_count;
if (mag_time_ms - _mag_time_ms_last_used > _params->sensor_interval_min_ms) {
if ((mag_time_ms - _mag_time_ms_last_used) > _params->sensor_interval_min_ms) {
const float mag_sample_count_inv = 1.0f / _mag_sample_count;
// calculate mean of measurements and correct for learned bias offsets
float mag_data_avg_ga[3] = {_mag_data_sum[0] *mag_sample_count_inv - _mag_bias_x.get(),
@@ -1337,7 +1336,7 @@ void Ekf2::run()
// Check and save the last valid calibration when we are disarmed
if ((vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_STANDBY)
&& (status.filter_fault_flags == 0)
&& (sensor_selection.mag_device_id == _mag_bias_id.get())) {
&& (sensor_selection.mag_device_id == (uint32_t)_mag_bias_id.get())) {
update_mag_bias(_mag_bias_x, 0);
update_mag_bias(_mag_bias_y, 1);