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clang-tidy: fix issues (#26498)

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Jacob Dahl 2026-02-17 14:09:43 -09:00 committed by GitHub
parent 6b67ccb0ad
commit d5ddc9135d
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GPG Key ID: B5690EEEBB952194
7 changed files with 16 additions and 11 deletions
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2
Makefile
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@ -505,7 +505,7 @@ px4_sitl_default-clang:
# To add manual exclusions, append to CLANG_TIDY_EXCLUDE_EXTRA below.
# Submodules are automatically excluded - no action needed when adding new ones.
CLANG_TIDY_SUBMODULES := $(shell git config --file .gitmodules --get-regexp path | awk '{print $$2}' | tr '\n' '|' | sed 's/|$$//')
CLANG_TIDY_EXCLUDE_EXTRA := src/systemcmds/tests|src/examples|src/modules/gyro_fft/CMSIS_5|src/lib/drivers/smbus|src/drivers/gpio|src/modules/commander/failsafe/emscripten|failsafe_test\.dir
CLANG_TIDY_EXCLUDE_EXTRA := src/systemcmds/tests|src/examples|src/modules/gyro_fft/CMSIS_5|src/lib/drivers/smbus|src/drivers/gpio|src/modules/commander/failsafe/emscripten|failsafe_test\.dir|\.pb\.cc
CLANG_TIDY_EXCLUDE := $(CLANG_TIDY_SUBMODULES)|$(CLANG_TIDY_EXCLUDE_EXTRA)
clang-tidy: px4_sitl_default-clang

2
src/lib/mathlib/math/filter/LowPassFilter2p.hpp
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@ -100,7 +100,7 @@ public:
// Direct Form II implementation
T delay_element_0{sample - _delay_element_1 *_a1 - _delay_element_2 * _a2};
const T output{delay_element_0 *_b0 + _delay_element_1 *_b1 + _delay_element_2 * _b2};
T output{delay_element_0 *_b0 + _delay_element_1 *_b1 + _delay_element_2 * _b2};
_delay_element_2 = _delay_element_1;
_delay_element_1 = delay_element_0;

2
src/lib/rate_control/rate_control.cpp
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@ -75,7 +75,7 @@ Vector3f RateControl::update(const Vector3f &rate, const Vector3f &rate_sp, cons
Vector3f rate_error = rate_sp - rate;
// PID control with feed forward
const Vector3f torque = _gain_p.emult(rate_error) + _rate_int - _gain_d.emult(angular_accel) + _gain_ff.emult(rate_sp);
Vector3f torque = _gain_p.emult(rate_error) + _rate_int - _gain_d.emult(angular_accel) + _gain_ff.emult(rate_sp);
// update integral only if we are not landed
if (!landed) {

2
src/modules/rover_mecanum/MecanumActControl/MecanumActControl.cpp
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@ -111,7 +111,7 @@ Vector4f MecanumActControl::computeInverseKinematics(float throttle_body_x, floa
const Matrix<float, 3, 1> input(input_data);
const float m_data[12] = {1.f, -1.f, -1.f, 1.f, 1.f, 1.f, 1.f, 1.f, -1.f, 1.f, -1.f, 1.f};
const Matrix<float, 4, 3> m(m_data);
const Vector4f motor_commands = m * input;
Vector4f motor_commands = m * input;
return motor_commands;
}

2
src/modules/sensors/Integrator.hpp
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@ -132,7 +132,7 @@ protected:
// Use trapezoidal integration to calculate the delta integral
_integrated_samples++;
_integral_dt += dt;
const matrix::Vector3f delta_alpha{(val + _last_val) *dt * 0.5f};
matrix::Vector3f delta_alpha{(val + _last_val) *dt * 0.5f};
_last_val = val;
return delta_alpha;

2
src/modules/simulation/gz_plugins/buoyancy/BuoyancySystem.cpp
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@ -277,7 +277,7 @@ void BuoyancyPrivate::CheckForNewEntities(const EntityComponentManager &_ecm)
[&](const Entity & _entity,
const components::Link *,
const components::Inertial *) -> bool {
if (this->basicBuoyancy == true) return true;
if (this->basicBuoyancy == true) { return true; }
// Skip if the entity already has a volume and center of volume
if (_ecm.EntityHasComponentType(_entity,
components::CenterOfVolume().TypeId()) &&

15
src/modules/simulation/gz_plugins/spacecraft_thruster/SpacecraftThrusterModel.cpp
View File

@ -334,16 +334,18 @@ void SpacecraftThrusterModelPrivate::UpdateForcesAndMoments(
// d: cycle period
double targetDutyCycle = normalizedInput * (1.0 / this->dutyCycleFrequency);
if (this->actuatorNumber == 0)
if (this->actuatorNumber == 0) {
gzdbg << this->actuatorNumber
<< ": target duty cycle: " << targetDutyCycle << std::endl;
}
// Calculate cycle start time
if (this->samplingTime >= 1.0 / this->dutyCycleFrequency) {
if (this->actuatorNumber == 0)
if (this->actuatorNumber == 0) {
gzdbg << this->actuatorNumber
<< ": Cycle completed. Resetting cycle start time."
<< std::endl;
}
this->cycleStartTime = this->simTime;
}
@ -351,22 +353,24 @@ void SpacecraftThrusterModelPrivate::UpdateForcesAndMoments(
// Calculate sampling time instant within the cycle
this->samplingTime = this->simTime - this->cycleStartTime;
if (this->actuatorNumber == 0)
if (this->actuatorNumber == 0) {
gzdbg << this->actuatorNumber
<< ": PWM Period: " << 1.0 / this->dutyCycleFrequency
<< " Cycle Start time: " << this->cycleStartTime
<< " Sampling time: " << this->samplingTime << std::endl;
}
// Apply force if the sampling time is less than the target ON duty cycle
double force = this->samplingTime <= targetDutyCycle ? this->maxThrust : 0.0;
if (targetDutyCycle < 1e-9) { force = 0.0; }
if (this->actuatorNumber == 0)
if (this->actuatorNumber == 0) {
gzdbg << this->actuatorNumber
<< ": Force: " << force
<< " Sampling time: " << this->samplingTime
<< " Tgt duty cycle: " << targetDutyCycle << std::endl;
}
// Apply force to the link
Link link(this->linkEntity);
@ -374,10 +378,11 @@ void SpacecraftThrusterModelPrivate::UpdateForcesAndMoments(
link.AddWorldForce(_ecm,
worldPose->Rot().RotateVector(math::Vector3d(0, 0, force)));
if (this->actuatorNumber == 0)
if (this->actuatorNumber == 0) {
gzdbg << this->actuatorNumber
<< ": Input Value: " << msg->velocity(this->actuatorNumber)
<< " Calc. Force: " << force << std::endl;
}
}
GZ_ADD_PLUGIN(SpacecraftThrusterModel,