turn on -Werror and fix resulting errors

src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp

@@ -134,7 +134,7 @@ int attitude_estimator_ekf_main(int argc, char *argv[])
 					      SCHED_PRIORITY_MAX - 5,
 					      7200,
 					      attitude_estimator_ekf_thread_main,
-					      (argv) ? (const char **)&argv[2] : (const char **)NULL);
+					      (argv) ? (char * const *)&argv[2] : (char * const *)NULL);
 		exit(0);
 	}
 
@@ -275,7 +275,8 @@ const unsigned int loop_interval_alarm = 6500;	// loop interval in microseconds
 	/* keep track of sensor updates */
 	uint64_t sensor_last_timestamp[3] = {0, 0, 0};
 
-	struct attitude_estimator_ekf_params ekf_params = { 0 };
+	struct attitude_estimator_ekf_params ekf_params;
+	memset(&ekf_params, 0, sizeof(ekf_params));
 
 	struct attitude_estimator_ekf_param_handles ekf_param_handles = { 0 };
 

src/modules/attitude_estimator_ekf/module.mk

@@ -42,3 +42,8 @@ SRCS		 = attitude_estimator_ekf_main.cpp \
 		   codegen/AttitudeEKF.c
 
 MODULE_STACKSIZE = 1200
+
+EXTRACFLAGS = -Wno-float-equal -Wno-error
+
+EXTRACXXFLAGS = -Wno-error
+

src/modules/attitude_estimator_so3/attitude_estimator_so3_main.cpp

@@ -153,7 +153,7 @@ int attitude_estimator_so3_main(int argc, char *argv[])
 					      SCHED_PRIORITY_MAX - 5,
 					      14000,
 					      attitude_estimator_so3_thread_main,
-					      (argv) ? (const char **)&argv[2] : (const char **)NULL);
+					      (argv) ? (char * const *)&argv[2] : (char * const *)NULL);
 		exit(0);
 	}
 

src/modules/attitude_estimator_so3/module.mk

@@ -8,3 +8,5 @@ SRCS		 = attitude_estimator_so3_main.cpp \
 		   attitude_estimator_so3_params.c
 
 MODULE_STACKSIZE = 1200
+
+EXTRACXXFLAGS = -Wno-float-equal

src/modules/bottle_drop/bottle_drop.cpp

@@ -523,6 +523,9 @@ BottleDrop::task_main()
 			}
 
 			switch (_drop_state) {
+				case DROP_STATE_INIT:
+					// do nothing
+					break;
 
 				case DROP_STATE_TARGET_VALID:
 				{
@@ -689,6 +692,10 @@ BottleDrop::task_main()
 						orb_publish(ORB_ID(onboard_mission), _onboard_mission_pub, &_onboard_mission);
 					}
 					break;
+
+				case DROP_STATE_BAY_CLOSED:
+					// do nothing
+					break;
 			}
 
 			counter++;

src/modules/commander/commander.cpp

@@ -267,7 +267,7 @@ int commander_main(int argc, char *argv[])
 					     SCHED_PRIORITY_MAX - 40,
 					     3200,
 					     commander_thread_main,
-					     (argv) ? (const char **)&argv[2] : (const char **)NULL);
+					     (argv) ? (char * const *)&argv[2] : (char * const *)NULL);
 
 		while (!thread_running) {
 			usleep(200);

src/modules/commander/module.mk

@@ -51,3 +51,5 @@ SRCS		 	= commander.cpp \
 MODULE_STACKSIZE = 1200
 
 MAXOPTIMIZATION	 = -Os
+
+EXTRACXXFLAGS = -Wno-error

src/modules/ekf_att_pos_estimator/module.mk

@@ -42,4 +42,4 @@ SRCS		= ekf_att_pos_estimator_main.cpp \
 		  estimator_23states.cpp \
 		  estimator_utilities.cpp
 
-EXTRACXXFLAGS	= -Weffc++
+EXTRACXXFLAGS	= -Weffc++ -Wno-error

src/modules/fixedwing_backside/fixedwing_backside_main.cpp

@@ -115,7 +115,7 @@ int fixedwing_backside_main(int argc, char *argv[])
 					 SCHED_PRIORITY_MAX - 10,
 					 5120,
 					 control_demo_thread_main,
-					 (argv) ? (const char **)&argv[2] : (const char **)NULL);
+					 (argv) ? (char * const *)&argv[2] : (char * const *)NULL);
 		exit(0);
 	}
 

src/modules/fw_pos_control_l1/module.mk

@@ -47,3 +47,5 @@ SRCS		= fw_pos_control_l1_main.cpp \
 MODULE_STACKSIZE = 1200
 
 MAXOPTIMIZATION	 = -Os
+
+EXTRACXXFLAGS = -Wno-float-equal

src/modules/mavlink/mavlink_ftp.cpp

@@ -801,7 +801,7 @@ MavlinkFTP::_return_request(Request *req)
 
 /// @brief Copy file (with limited space)
 int
-MavlinkFTP::_copy_file(const char *src_path, const char *dst_path, ssize_t length)
+MavlinkFTP::_copy_file(const char *src_path, const char *dst_path, size_t length)
 {
 	char buff[512];
 	int src_fd = -1, dst_fd = -1;

src/modules/mavlink/mavlink_ftp.h

@@ -142,7 +142,7 @@ private:
 	static void	_worker_trampoline(void *arg);
 	void		_process_request(Request *req);
 	void		_reply(Request *req);
-	int		_copy_file(const char *src_path, const char *dst_path, ssize_t length);
+	int		_copy_file(const char *src_path, const char *dst_path, size_t length);
 
 	ErrorCode	_workList(PayloadHeader *payload);
 	ErrorCode	_workOpen(PayloadHeader *payload, int oflag);

src/modules/mavlink/mavlink_main.cpp

@@ -1638,7 +1638,7 @@ Mavlink::start(int argc, char *argv[])
 		       SCHED_PRIORITY_DEFAULT,
 		       2800,
 		       (main_t)&Mavlink::start_helper,
-		       (const char **)argv);
+		       (char * const *)argv);
 
 	// Ensure that this shell command
 	// does not return before the instance

src/modules/mavlink/mavlink_messages.cpp

@@ -1764,6 +1764,9 @@ protected:
 				case RC_INPUT_SOURCE_PX4IO_ST24:
 					msg.rssi |= (3 << 4);
 					break;
+				case RC_INPUT_SOURCE_UNKNOWN:
+					// do nothing
+					break;
 			}
 
 			if (rc.rc_lost) {

src/modules/navigator/module.mk

@@ -62,3 +62,5 @@ INCLUDE_DIRS	 += $(MAVLINK_SRC)/include/mavlink
 MODULE_STACKSIZE = 1200
 
 MAXOPTIMIZATION = -Os
+
+EXTRACXXFLAGS	= -Wno-sign-compare

src/modules/position_estimator_inav/module.mk

@@ -41,3 +41,5 @@ SRCS		 	= position_estimator_inav_main.c \
 			inertial_filter.c
 
 MODULE_STACKSIZE = 1200
+
+EXTRACFLAGS = -Wno-error

src/modules/position_estimator_inav/position_estimator_inav_main.c

@@ -151,7 +151,7 @@ int position_estimator_inav_main(int argc, char *argv[])
 		position_estimator_inav_task = task_spawn_cmd("position_estimator_inav",
 					       SCHED_DEFAULT, SCHED_PRIORITY_MAX - 5, 5000,
 					       position_estimator_inav_thread_main,
-					       (argv) ? (const char **) &argv[2] : (const char **) NULL);
+					       (argv) ? (char * const *) &argv[2] : (char * const *) NULL);
 		exit(0);
 	}
 

src/modules/sdlog2/module.mk

@@ -45,3 +45,5 @@ SRCS = sdlog2.c \
 MODULE_STACKSIZE = 1200
 
 MAXOPTIMIZATION	 = -Os
+
+EXTRACFLAGS = -Wno-error

src/modules/sdlog2/sdlog2.c

@@ -304,7 +304,7 @@ int sdlog2_main(int argc, char *argv[])
 						 SCHED_PRIORITY_DEFAULT - 30,
 						 3000,
 						 sdlog2_thread_main,
-						 (const char **)argv);
+						 (char * const *)argv);
 		exit(0);
 	}
 
@@ -1089,6 +1089,8 @@ int sdlog2_thread_main(int argc, char *argv[])
 
 	if (_extended_logging) {
 		subs.sat_info_sub = orb_subscribe(ORB_ID(satellite_info));
+	} else {
+		subs.sat_info_sub = 0;
 	}
 
 	/* close non-needed fd's */

src/modules/segway/segway_main.cpp

@@ -110,7 +110,7 @@ int segway_main(int argc, char *argv[])
 					 SCHED_PRIORITY_MAX - 10,
 					 5120,
 					 segway_thread_main,
-					 (argv) ? (const char **)&argv[2] : (const char **)NULL);
+					 (argv) ? (char * const *)&argv[2] : (char * const *)NULL);
 		exit(0);
 	}
 

src/modules/sensors/module.mk

@@ -44,3 +44,5 @@ SRCS		= sensors.cpp \
 MODULE_STACKSIZE = 1200
 
 MAXOPTIMIZATION	 = -Os
+
+EXTRACXXFLAGS	= -Wno-type-limits

src/modules/systemlib/module.mk

@@ -57,3 +57,5 @@ SRCS		 = err.c \
 		   mcu_version.c
 
 MAXOPTIMIZATION	 = -Os
+
+EXTRACFLAGS	= -Wno-sign-compare

src/modules/systemlib/systemlib.c

@@ -87,7 +87,7 @@ static void kill_task(FAR struct tcb_s *tcb, FAR void *arg)
 	kill(tcb->pid, SIGUSR1);
 }
 
-int task_spawn_cmd(const char *name, int scheduler, int priority, int stack_size, main_t entry, const char *argv[])
+int task_spawn_cmd(const char *name, int scheduler, int priority, int stack_size, main_t entry, char * const argv[])
 {
 	int pid;
 

src/modules/systemlib/systemlib.h

@@ -64,7 +64,7 @@ __EXPORT int task_spawn_cmd(const char *name,
 			int scheduler,
 			int stack_size,
 			main_t entry,
-			const char *argv[]);
+			char * const argv[]);
 
 enum MULT_PORTS {
 	MULT_0_US2_RXTX = 0,

src/modules/vtol_att_control/module.mk

@@ -39,3 +39,5 @@ MODULE_COMMAND	= vtol_att_control
 
 SRCS		= vtol_att_control_main.cpp \
 			  vtol_att_control_params.c
+
+EXTRACXXFLAGS = -Wno-error