Merge pull request #1123 from DonLakeFlyer/Warnings

Compiler warning fixes

src/drivers/blinkm/blinkm.cpp

@@ -293,7 +293,7 @@ BlinkM::BlinkM(int bus, int blinkm) :
 	safety_sub_fd(-1),
 	num_of_cells(0),
 	detected_cells_runcount(0),
-	t_led_color({0}),
+	t_led_color{0},
 	t_led_blink(0),
 	led_thread_runcount(0),
 	led_interval(1000),

src/lib/geo/geo.c

@@ -294,23 +294,21 @@ __EXPORT int get_distance_to_arc(struct crosstrack_error_s *crosstrack_error, do
 		// calculate the position of the start and end points.  We should not be doing this often
 		// as this function generally will not be called repeatedly when we are out of the sector.
 
-		// TO DO - this is messed up and won't compile
+		double start_disp_x = (double)radius * sin(arc_start_bearing);
-		float start_disp_x = radius * sinf(arc_start_bearing);
+		double start_disp_y = (double)radius * cos(arc_start_bearing);
-		float start_disp_y = radius * cosf(arc_start_bearing);
+		double end_disp_x = (double)radius * sin(_wrapPI((double)(arc_start_bearing + arc_sweep)));
-		float end_disp_x = radius * sinf(_wrapPI(arc_start_bearing + arc_sweep));
+		double end_disp_y = (double)radius * cos(_wrapPI((double)(arc_start_bearing + arc_sweep)));
-		float end_disp_y = radius * cosf(_wrapPI(arc_start_bearing + arc_sweep));
+		double lon_start = lon_now + start_disp_x / 111111.0;
-		float lon_start = lon_now + start_disp_x / 111111.0f;
+		double lat_start = lat_now + start_disp_y * cos(lat_now) / 111111.0;
-		float lat_start = lat_now + start_disp_y * cosf(lat_now) / 111111.0f;
+		double lon_end = lon_now + end_disp_x / 111111.0;
-		float lon_end = lon_now + end_disp_x / 111111.0f;
+		double lat_end = lat_now + end_disp_y * cos(lat_now) / 111111.0;
-		float lat_end = lat_now + end_disp_y * cosf(lat_now) / 111111.0f;
+		double dist_to_start = get_distance_to_next_waypoint(lat_now, lon_now, lat_start, lon_start);
-		float dist_to_start = get_distance_to_next_waypoint(lat_now, lon_now, lat_start, lon_start);
+		double dist_to_end = get_distance_to_next_waypoint(lat_now, lon_now, lat_end, lon_end);
-		float dist_to_end = get_distance_to_next_waypoint(lat_now, lon_now, lat_end, lon_end);
 
 
 		if (dist_to_start < dist_to_end) {
 			crosstrack_error->distance = dist_to_start;
 			crosstrack_error->bearing = get_bearing_to_next_waypoint(lat_now, lon_now, lat_start, lon_start);
-
 		} else {
 			crosstrack_error->past_end = true;
 			crosstrack_error->distance = dist_to_end;
@@ -319,7 +317,7 @@ __EXPORT int get_distance_to_arc(struct crosstrack_error_s *crosstrack_error, do
 
 	}
 
-	crosstrack_error->bearing = _wrapPI(crosstrack_error->bearing);
+	crosstrack_error->bearing = _wrapPI((double)crosstrack_error->bearing);
 	return_value = OK;
 	return return_value;
 }

src/modules/commander/commander.cpp

@@ -472,7 +472,7 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe
 			// Follow exactly what the mavlink spec says for values: 0.0f for disarm, 1.0f for arm.
 			// We use an float epsilon delta to test float equality.
 			if (cmd->param1 != 0.0f && (fabsf(cmd->param1 - 1.0f) > 2.0f * FLT_EPSILON)) {
-				mavlink_log_info(mavlink_fd, "Unsupported ARM_DISARM parameter: %.6f", cmd->param1);
+				mavlink_log_info(mavlink_fd, "Unsupported ARM_DISARM parameter: %.6f", (double)cmd->param1);
 
 			} else {
 
@@ -634,7 +634,7 @@ int commander_thread_main(int argc, char *argv[])
 	/* welcome user */
 	warnx("starting");
 
-	char *main_states_str[MAIN_STATE_MAX];
+	const char *main_states_str[MAIN_STATE_MAX];
 	main_states_str[MAIN_STATE_MANUAL]			= "MANUAL";
 	main_states_str[MAIN_STATE_ALTCTL]			= "ALTCTL";
 	main_states_str[MAIN_STATE_POSCTL]			= "POSCTL";
@@ -643,7 +643,7 @@ int commander_thread_main(int argc, char *argv[])
 	main_states_str[MAIN_STATE_AUTO_RTL]			= "AUTO_RTL";
 	main_states_str[MAIN_STATE_ACRO]			= "ACRO";
 
-	char *arming_states_str[ARMING_STATE_MAX];
+	const char *arming_states_str[ARMING_STATE_MAX];
 	arming_states_str[ARMING_STATE_INIT]			= "INIT";
 	arming_states_str[ARMING_STATE_STANDBY]			= "STANDBY";
 	arming_states_str[ARMING_STATE_ARMED]			= "ARMED";
@@ -652,7 +652,7 @@ int commander_thread_main(int argc, char *argv[])
 	arming_states_str[ARMING_STATE_REBOOT]			= "REBOOT";
 	arming_states_str[ARMING_STATE_IN_AIR_RESTORE]		= "IN_AIR_RESTORE";
 
-	char *nav_states_str[NAVIGATION_STATE_MAX];
+	const char *nav_states_str[NAVIGATION_STATE_MAX];
 	nav_states_str[NAVIGATION_STATE_MANUAL]			= "MANUAL";
 	nav_states_str[NAVIGATION_STATE_ALTCTL]			= "ALTCTL";
 	nav_states_str[NAVIGATION_STATE_POSCTL]			= "POSCTL";

src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp

@@ -414,6 +414,17 @@ FixedwingPositionControl::FixedwingPositionControl() :
 	_attitude_sp_pub(-1),
 	_nav_capabilities_pub(-1),
 
+	_att(),
+	_att_sp(),
+	_nav_capabilities(),
+	_manual(),
+	_airspeed(),
+	_control_mode(),
+	_global_pos(),
+	_pos_sp_triplet(),
+	_sensor_combined(),
+	_range_finder(),
+
 /* performance counters */
 	_loop_perf(perf_alloc(PC_ELAPSED, "fw l1 control")),
 
@@ -433,18 +444,8 @@ FixedwingPositionControl::FixedwingPositionControl() :
 	_airspeed_valid(false),
 	_groundspeed_undershoot(0.0f),
 	_global_pos_valid(false),
-	_att(),
-	_att_sp(),
-	_nav_capabilities(),
-	_manual(),
-	_airspeed(),
-	_control_mode(),
-	_global_pos(),
-	_pos_sp_triplet(),
-	_sensor_combined(),
 	_mTecs(),
-	_was_pos_control_mode(false),
+	_was_pos_control_mode(false)
-	_range_finder()
 {
 	_nav_capabilities.turn_distance = 0.0f;
 

src/modules/fw_pos_control_l1/mtecs/mTecs_blocks.h

@@ -56,9 +56,9 @@ class BlockOutputLimiter: public SuperBlock
 {
 public:
 // methods
-	BlockOutputLimiter(SuperBlock *parent, const char *name, bool isAngularLimit = false) :
+	BlockOutputLimiter(SuperBlock *parent, const char *name, bool fAngularLimit = false) :
 		SuperBlock(parent, name),
-		_isAngularLimit(isAngularLimit),
+		_isAngularLimit(fAngularLimit),
 		_min(this, "MIN"),
 		_max(this, "MAX")
 	{};

src/modules/systemlib/cpuload.c

@@ -67,7 +67,7 @@ __EXPORT void sched_note_switch(FAR struct tcb_s *pFromTcb, FAR struct tcb_s *pT
 
 __EXPORT struct system_load_s system_load;
 
-extern FAR struct _TCB *sched_gettcb(pid_t pid);
+extern FAR struct tcb_s *sched_gettcb(pid_t pid);
 
 void cpuload_initialize_once()
 {

src/modules/systemlib/systemlib.c

@@ -54,6 +54,9 @@
 
 #include "systemlib.h"
 
+// Didn't seem right to include up_internal.h, so direct extern instead.
+extern void up_systemreset(void) noreturn_function;
+
 void
 systemreset(bool to_bootloader)
 {

src/systemcmds/param/param.c

@@ -46,6 +46,7 @@
 #include <stdbool.h>
 #include <unistd.h>
 #include <fcntl.h>
+#include <math.h>
 #include <sys/stat.h>
 
 #include <arch/board/board.h>
@@ -228,8 +229,8 @@ do_show_print(void *arg, param_t param)
 	if (!(arg == NULL)) {
 
 		/* start search */
-		char *ss = search_string;
+		const char *ss = search_string;
-		char *pp = p_name;
+		const char *pp = p_name;
 		bool mismatch = false;
 
 		/* XXX this comparison is only ok for trailing wildcards */