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mavlink, navigator: compile errors/warnings fixed

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This commit is contained in:
Anton Babushkin 2014-07-10 17:08:23 +02:00
parent bc602ff1e2
commit e57579fa21
3 changed files with 7 additions and 11 deletions
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4
src/modules/mavlink/mavlink_main.cpp
View File

@ -226,8 +226,9 @@ Mavlink::Mavlink() :
_main_loop_delay(1000),
_subscriptions(nullptr),
_streams(nullptr),
_mission_result_sub(-1),
_mission_manager(nullptr),
_mission_pub(-1),
_mission_result_sub(-1),
_mode(MAVLINK_MODE_NORMAL),
_total_counter(0),
_verbose(false),
@ -245,7 +246,6 @@ Mavlink::Mavlink() :
_param_component_id(0),
_param_system_type(0),
_param_use_hil_gps(0),
_mission_manager(nullptr),
/* performance counters */
_loop_perf(perf_alloc(PC_ELAPSED, "mavlink_el")),

2
src/modules/mavlink/mavlink_mission.cpp
View File

@ -69,9 +69,9 @@ MavlinkMissionManager::MavlinkMissionManager(Mavlink *mavlink) :
_action_timeout(MAVLINK_MISSION_PROTOCOL_TIMEOUT_DEFAULT),
_retry_timeout(MAVLINK_MISSION_RETRY_TIMEOUT_DEFAULT),
_max_count(DM_KEY_WAYPOINTS_OFFBOARD_0_MAX),
_dataman_id(0),
_count(0),
_current_seq(0),
_dataman_id(0),
_transfer_dataman_id(0),
_transfer_count(0),
_transfer_seq(0),

12
src/modules/navigator/mission.cpp
View File

@ -72,10 +72,7 @@ Mission::Mission(Navigator *navigator, const char *name) :
_mission_result({0}),
_mission_type(MISSION_TYPE_NONE),
_inited(false),
_dist_1wp_ok(false),
_need_takeoff(true),
_takeoff(false)
_dist_1wp_ok(false)
{
/* load initial params */
updateParams();
@ -203,7 +200,7 @@ Mission::update_offboard_mission()
/* Check mission feasibility, for now do not handle the return value,
* however warnings are issued to the gcs via mavlink from inside the MissionFeasiblityChecker */
dm_item_t dm_current = DM_KEY_WAYPOINTS_OFFBOARD(_transfer_dataman_id);
dm_item_t dm_current = DM_KEY_WAYPOINTS_OFFBOARD(_offboard_mission.dataman_id);
missionFeasiblityChecker.checkMissionFeasible(_navigator->get_vstatus()->is_rotary_wing,
dm_current, (size_t) _offboard_mission.count, _navigator->get_geofence(),
@ -252,13 +249,12 @@ Mission::check_dist_1wp()
}
/* check if first waypoint is not too far from home */
bool mission_valid = false;
if (_param_dist_1wp.get() > 0.0f) {
if (_navigator->get_vstatus()->condition_home_position_valid) {
struct mission_item_s mission_item;
/* find first waypoint (with lat/lon) item in datamanager */
for (int i = 0; i < _offboard_mission.count; i++) {
for (unsigned i = 0; i < _offboard_mission.count; i++) {
if (dm_read(DM_KEY_WAYPOINTS_OFFBOARD(_offboard_mission.dataman_id), i,
&mission_item, sizeof(mission_item_s)) == sizeof(mission_item_s)) {
@ -281,7 +277,7 @@ Mission::check_dist_1wp()
} else {
/* item is too far from home */
mavlink_log_info(_navigator->get_mavlink_fd(), "first wp is too far from home: %.1fm > %.1fm", dist_to_1wp, _param_dist_1wp.get());
mavlink_log_info(_navigator->get_mavlink_fd(), "first wp is too far from home: %.1fm > %.1fm", (double)dist_to_1wp, (double)_param_dist_1wp.get());
return false;
}
}