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commander:Use inttypes

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This commit is contained in:
David Sidrane
2021-06-16 17:07:47 +02:00
committed by Julian Oes
parent a3593d7d07
commit ed474794cc
6 changed files with 28 additions and 25 deletions
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src/modules/commander/Arming/ArmAuthorization/ArmAuthorization.cpp
+3 -2
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@@ -238,7 +238,7 @@ void arm_auth_update(hrt_abstime now, bool param_update)
case vehicle_command_ack_s::VEHICLE_RESULT_ACCEPTED: case vehicle_command_ack_s::VEHICLE_RESULT_ACCEPTED:
mavlink_log_info(mavlink_log_pub, mavlink_log_info(mavlink_log_pub,
"Arm auth: Authorized for the next %u seconds", "Arm auth: Authorized for the next %" PRId32 " seconds",
command_ack.result_param2); command_ack.result_param2);
state = ARM_AUTH_MISSION_APPROVED; state = ARM_AUTH_MISSION_APPROVED;
auth_timeout = command_ack.timestamp + (command_ack.result_param2 * 1000000); auth_timeout = command_ack.timestamp + (command_ack.result_param2 * 1000000);
@@ -257,7 +257,8 @@ void arm_auth_update(hrt_abstime now, bool param_update)
break; break;
case vehicle_command_ack_s::ARM_AUTH_DENIED_REASON_INVALID_WAYPOINT: case vehicle_command_ack_s::ARM_AUTH_DENIED_REASON_INVALID_WAYPOINT:
mavlink_log_critical(mavlink_log_pub, "Arm auth: Denied, waypoint %i have a invalid value", command_ack.result_param2); mavlink_log_critical(mavlink_log_pub, "Arm auth: Denied, waypoint %" PRId32 " have a invalid value",
command_ack.result_param2);
break; break;
case vehicle_command_ack_s::ARM_AUTH_DENIED_REASON_TIMEOUT: case vehicle_command_ack_s::ARM_AUTH_DENIED_REASON_TIMEOUT:
src/modules/commander/Arming/PreFlightCheck/checks/powerCheck.cpp
+1 -1
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@@ -106,7 +106,7 @@ bool PreFlightCheck::powerCheck(orb_advert_t *mavlink_log_pub, const vehicle_sta
success = false; success = false;
if (report_fail) { if (report_fail) {
mavlink_log_critical(mavlink_log_pub, "Power redundancy not met: %d instead of %d", mavlink_log_critical(mavlink_log_pub, "Power redundancy not met: %d instead of %" PRId32,
power_module_count, required_power_module_count); power_module_count, required_power_module_count);
} }
} }
src/modules/commander/Commander.cpp
+3 -2
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@@ -2453,7 +2453,7 @@ Commander::run()
if (_cmd_sub.copy(&cmd)) { if (_cmd_sub.copy(&cmd)) {
if (_cmd_sub.get_last_generation() != last_generation + 1) { if (_cmd_sub.get_last_generation() != last_generation + 1) {
PX4_ERR("vehicle_command lost, generation %d -> %d", last_generation, _cmd_sub.get_last_generation()); PX4_ERR("vehicle_command lost, generation %u -> %u", last_generation, _cmd_sub.get_last_generation());
} }
if (handle_command(cmd)) { if (handle_command(cmd)) {
@@ -3460,7 +3460,8 @@ void Commander::mission_init()
if (dm_read(DM_KEY_MISSION_STATE, 0, &mission, sizeof(mission_s)) == sizeof(mission_s)) { if (dm_read(DM_KEY_MISSION_STATE, 0, &mission, sizeof(mission_s)) == sizeof(mission_s)) {
if (mission.dataman_id == DM_KEY_WAYPOINTS_OFFBOARD_0 || mission.dataman_id == DM_KEY_WAYPOINTS_OFFBOARD_1) { if (mission.dataman_id == DM_KEY_WAYPOINTS_OFFBOARD_0 || mission.dataman_id == DM_KEY_WAYPOINTS_OFFBOARD_1) {
if (mission.count > 0) { if (mission.count > 0) {
PX4_INFO("Mission #%d loaded, %u WPs, curr: %d", mission.dataman_id, mission.count, mission.current_seq); PX4_INFO("Mission #%" PRIu8 " loaded, %" PRIu16 " WPs, curr: %" PRId32, mission.dataman_id, mission.count,
mission.current_seq);
} }
} else { } else {
src/modules/commander/Commander.hpp
+1 -2
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@@ -1,6 +1,6 @@
/**************************************************************************** /****************************************************************************
* *
* Copyright (c) 2017 PX4 Development Team. All rights reserved. * Copyright (c) 2017, 2021 PX4 Development Team. All rights reserved.
* *
* Redistribution and use in source and binary forms, with or without * Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions * modification, are permitted provided that the following conditions
@@ -33,7 +33,6 @@
#pragma once #pragma once
/* Helper classes */ /* Helper classes */
#include "Arming/PreFlightCheck/PreFlightCheck.hpp" #include "Arming/PreFlightCheck/PreFlightCheck.hpp"
#include "failure_detector/FailureDetector.hpp" #include "failure_detector/FailureDetector.hpp"
src/modules/commander/calibration_routines.cpp
+2 -2
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@@ -1,6 +1,6 @@
/**************************************************************************** /****************************************************************************
* *
* Copyright (c) 2012 PX4 Development Team. All rights reserved. * Copyright (c) 2012, 2021 PX4 Development Team. All rights reserved.
* *
* Redistribution and use in source and binary forms, with or without * Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions * modification, are permitted provided that the following conditions
@@ -345,7 +345,7 @@ bool calibrate_cancel_check(orb_advert_t *mavlink_log_pub, const hrt_abstime &ca
} else { } else {
command_ack.result = vehicle_command_s::VEHICLE_CMD_RESULT_DENIED; command_ack.result = vehicle_command_s::VEHICLE_CMD_RESULT_DENIED;
mavlink_log_critical(mavlink_log_pub, "command denied during calibration: %u", cmd.command); mavlink_log_critical(mavlink_log_pub, "command denied during calibration: %" PRIu32, cmd.command);
tune_negative(true); tune_negative(true);
ret = false; ret = false;
} }
src/modules/commander/mag_calibration.cpp
+18 -16
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@@ -1,6 +1,6 @@
/**************************************************************************** /****************************************************************************
* *
* Copyright (c) 2013-2020 PX4 Development Team. All rights reserved. * Copyright (c) 2013-2021 PX4 Development Team. All rights reserved.
* *
* Redistribution and use in source and binary forms, with or without * Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions * modification, are permitted provided that the following conditions
@@ -151,7 +151,7 @@ static bool reject_sample(float sx, float sy, float sz, float x[], float y[], fl
float dist = sqrtf(dx * dx + dy * dy + dz * dz); float dist = sqrtf(dx * dx + dy * dy + dz * dz);
if (dist < min_sample_dist) { if (dist < min_sample_dist) {
PX4_DEBUG("rejected X: %.3f Y: %.3f Z: %.3f (%.3f < %.3f) (%d/%d) ", (double)sx, (double)sy, (double)sz, (double)dist, PX4_DEBUG("rejected X: %.3f Y: %.3f Z: %.3f (%.3f < %.3f) (%u/%u) ", (double)sx, (double)sy, (double)sz, (double)dist,
(double)min_sample_dist, count, max_count); (double)min_sample_dist, count, max_count);
return true; return true;
@@ -188,14 +188,14 @@ static calibrate_return check_calibration_result(float offset_x, float offset_y,
for (unsigned i = 0; i < num_finite; ++i) { for (unsigned i = 0; i < num_finite; ++i) {
if (!PX4_ISFINITE(must_be_finite[i])) { if (!PX4_ISFINITE(must_be_finite[i])) {
calibration_log_emergency(mavlink_log_pub, "Retry calibration (sphere NaN, %u)", cur_mag); calibration_log_emergency(mavlink_log_pub, "Retry calibration (sphere NaN, %" PRIu8 ")", cur_mag);
return calibrate_return_error; return calibrate_return_error;
} }
} }
// earth field between 0.25 and 0.65 Gauss // earth field between 0.25 and 0.65 Gauss
if (sphere_radius < 0.2f || sphere_radius >= 0.7f) { if (sphere_radius < 0.2f || sphere_radius >= 0.7f) {
calibration_log_emergency(mavlink_log_pub, "Retry calibration (mag %u sphere radius invalid %.3f)", cur_mag, calibration_log_emergency(mavlink_log_pub, "Retry calibration (mag %" PRIu8 " sphere radius invalid %.3f)", cur_mag,
(double)sphere_radius); (double)sphere_radius);
return calibrate_return_error; return calibrate_return_error;
} }
@@ -205,7 +205,7 @@ static calibrate_return check_calibration_result(float offset_x, float offset_y,
for (unsigned i = 0; i < num_positive; ++i) { for (unsigned i = 0; i < num_positive; ++i) {
if (should_be_positive[i] <= 0.0f) { if (should_be_positive[i] <= 0.0f) {
calibration_log_emergency(mavlink_log_pub, "Retry calibration (mag %u with non-positive scale)", cur_mag); calibration_log_emergency(mavlink_log_pub, "Retry calibration (mag %" PRIu8 " with non-positive scale)", cur_mag);
return calibrate_return_error; return calibrate_return_error;
} }
} }
@@ -219,7 +219,7 @@ static calibrate_return check_calibration_result(float offset_x, float offset_y,
static constexpr float MAG_MAX_OFFSET_LEN = 1.3f; static constexpr float MAG_MAX_OFFSET_LEN = 1.3f;
if (fabsf(should_be_not_huge[i]) > MAG_MAX_OFFSET_LEN) { if (fabsf(should_be_not_huge[i]) > MAG_MAX_OFFSET_LEN) {
calibration_log_critical(mavlink_log_pub, "Warning: mag %u with large offsets", cur_mag); calibration_log_critical(mavlink_log_pub, "Warning: mag %" PRIu8 " with large offsets", cur_mag);
break; break;
} }
} }
@@ -440,7 +440,7 @@ static calibrate_return mag_calibration_worker(detect_orientation_return orienta
} }
} }
PX4_DEBUG("side counter %d / %d", calibration_counter_side, worker_data->calibration_points_perside); PX4_DEBUG("side counter %u / %u", calibration_counter_side, worker_data->calibration_points_perside);
} else { } else {
poll_errcount++; poll_errcount++;
@@ -596,7 +596,7 @@ calibrate_return mag_calibrate_all(orb_advert_t *mavlink_log_pub, int32_t cal_ma
if (ret == PX4_OK) { if (ret == PX4_OK) {
sphere_fit_success = true; sphere_fit_success = true;
PX4_INFO("Mag: %d sphere radius: %.4f", cur_mag, (double)sphere_data.radius); PX4_INFO("Mag: %" PRIu8 " sphere radius: %.4f", cur_mag, (double)sphere_data.radius);
if (!sphere_fit_only) { if (!sphere_fit_only) {
int ellipsoid_ret = lm_mag_fit(worker_data.x[cur_mag], worker_data.y[cur_mag], worker_data.z[cur_mag], int ellipsoid_ret = lm_mag_fit(worker_data.x[cur_mag], worker_data.y[cur_mag], worker_data.z[cur_mag],
@@ -617,7 +617,7 @@ calibrate_return mag_calibrate_all(orb_advert_t *mavlink_log_pub, int32_t cal_ma
} }
if (!sphere_fit_success && !ellipsoid_fit_success) { if (!sphere_fit_success && !ellipsoid_fit_success) {
calibration_log_emergency(mavlink_log_pub, "Retry calibration (unable to fit mag %u)", cur_mag); calibration_log_emergency(mavlink_log_pub, "Retry calibration (unable to fit mag %" PRIu8 ")", cur_mag);
result = calibrate_return_error; result = calibrate_return_error;
break; break;
} }
@@ -646,7 +646,7 @@ calibrate_return mag_calibrate_all(orb_advert_t *mavlink_log_pub, int32_t cal_ma
continue; continue;
} }
printf("MAG %u with %u samples:\n", cur_mag, worker_data.calibration_counter_total[cur_mag]); printf("MAG %" PRIu8 " with %u samples:\n", cur_mag, worker_data.calibration_counter_total[cur_mag]);
printf("RAW -> CALIBRATED\n"); printf("RAW -> CALIBRATED\n");
float scale_data[9] { float scale_data[9] {
@@ -811,7 +811,7 @@ calibrate_return mag_calibrate_all(orb_advert_t *mavlink_log_pub, int32_t cal_ma
switch (worker_data.calibration[cur_mag].rotation_enum()) { switch (worker_data.calibration[cur_mag].rotation_enum()) {
case ROTATION_ROLL_90_PITCH_68_YAW_293: case ROTATION_ROLL_90_PITCH_68_YAW_293:
PX4_INFO("[cal] External Mag: %d (%d), keeping manually configured rotation %d", cur_mag, PX4_INFO("[cal] External Mag: %d (%" PRIu32 "), keeping manually configured rotation %" PRIu8, cur_mag,
worker_data.calibration[cur_mag].device_id(), worker_data.calibration[cur_mag].rotation_enum()); worker_data.calibration[cur_mag].device_id(), worker_data.calibration[cur_mag].rotation_enum());
continue; continue;
@@ -821,25 +821,27 @@ calibrate_return mag_calibrate_all(orb_advert_t *mavlink_log_pub, int32_t cal_ma
if (smallest_check_passed && total_error_check_passed) { if (smallest_check_passed && total_error_check_passed) {
if (best_rotation != worker_data.calibration[cur_mag].rotation_enum()) { if (best_rotation != worker_data.calibration[cur_mag].rotation_enum()) {
calibration_log_info(mavlink_log_pub, "[cal] External Mag: %d (%d), determined rotation: %d", cur_mag, calibration_log_info(mavlink_log_pub, "[cal] External Mag: %d (%" PRIu32 ")), determined rotation: %" PRIu8, cur_mag,
worker_data.calibration[cur_mag].device_id(), best_rotation); worker_data.calibration[cur_mag].device_id(), best_rotation);
worker_data.calibration[cur_mag].set_rotation(best_rotation); worker_data.calibration[cur_mag].set_rotation(best_rotation);
} else { } else {
PX4_INFO("[cal] External Mag: %d (%d), no rotation change: %d", cur_mag, PX4_INFO("[cal] External Mag: %d (%" PRIu32 ")), no rotation change: %d", cur_mag,
worker_data.calibration[cur_mag].device_id(), best_rotation); worker_data.calibration[cur_mag].device_id(), best_rotation);
} }
} else { } else {
PX4_ERR("External Mag: %d (%d), determining rotation failed", cur_mag, worker_data.calibration[cur_mag].device_id()); PX4_ERR("External Mag: %d (%" PRIu32 ")), determining rotation failed", cur_mag,
worker_data.calibration[cur_mag].device_id());
print_all_mse = true; print_all_mse = true;
} }
} else { } else {
// non-primary internal mags, warn if there seems to be a rotation relative to the first primary (internal_index) // non-primary internal mags, warn if there seems to be a rotation relative to the first primary (internal_index)
if (best_rotation != ROTATION_NONE) { if (best_rotation != ROTATION_NONE) {
calibration_log_critical(mavlink_log_pub, "[cal] Internal Mag: %d (%d) rotation %d relative to primary %d (%d)", calibration_log_critical(mavlink_log_pub,
"[cal] Internal Mag: %d (%" PRIu32 ") rotation %d relative to primary %d (%" PRIu32 ")",
cur_mag, worker_data.calibration[cur_mag].device_id(), best_rotation, cur_mag, worker_data.calibration[cur_mag].device_id(), best_rotation,
internal_index, worker_data.calibration[internal_index].device_id()); internal_index, worker_data.calibration[internal_index].device_id());
@@ -849,7 +851,7 @@ calibrate_return mag_calibrate_all(orb_advert_t *mavlink_log_pub, int32_t cal_ma
if (print_all_mse) { if (print_all_mse) {
for (int r = ROTATION_NONE; r < ROTATION_MAX; r++) { for (int r = ROTATION_NONE; r < ROTATION_MAX; r++) {
PX4_ERR("%s Mag: %d (%d), rotation: %d, MSE: %.3f", PX4_ERR("%s Mag: %d (%" PRIu32 "), rotation: %d, MSE: %.3f",
worker_data.calibration[cur_mag].external() ? "External" : "Internal", worker_data.calibration[cur_mag].external() ? "External" : "Internal",
cur_mag, worker_data.calibration[cur_mag].device_id(), r, (double)MSE[r]); cur_mag, worker_data.calibration[cur_mag].device_id(), r, (double)MSE[r]);
} }