minor cleanup based on compiler warnings.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2122 f9c3cf11-9bcb-44bc-f272-b75c42450872

ArduCopterMega/ArduCopterMega.pde

@@ -391,7 +391,7 @@ struct 	Location prev_WP;					// last waypoint
 struct 	Location current_loc;				// current location
 struct 	Location next_WP;					// next waypoint
 struct 	Location target_WP;					// where do we want to you towards?
-struct 	Location tell_command;				// command for telemetry
+struct 	Location simple_WP;				// command for telemetry
 struct 	Location next_command;				// command preloaded
 long 	target_altitude;					// used for
 boolean	home_is_set; 						// Flag for if we have g_gps lock and have set the home location
@@ -965,16 +965,16 @@ void update_current_flight_mode(void)
 				if(flight_timer > 4){
 					flight_timer = 0;
 
-					tell_command.lat = 0;
-					tell_command.lng = 0;
+					simple_WP.lat = 0;
+					simple_WP.lng = 0;
 
 					next_WP.lng =   (float)g.rc_1.control_in *.4;  // X: 4500 / 2 = 2250 = 25 meteres
 					next_WP.lat = -((float)g.rc_2.control_in *.4); // Y: 4500 / 2 = 2250 = 25 meteres
 
 					// calc a new bearing
-					nav_bearing 	= get_bearing(&tell_command, &next_WP) + initial_simple_bearing;
+					nav_bearing 	= get_bearing(&simple_WP, &next_WP) + initial_simple_bearing;
 					nav_bearing 	= wrap_360(nav_bearing);
-					wp_distance 	= get_distance(&tell_command, &next_WP);
+					wp_distance 	= get_distance(&simple_WP, &next_WP);
 					calc_bearing_error();
 					/*
 					Serial.printf("lat: %ld lon:%ld, bear:%ld, dist:%ld, init:%ld, err:%ld ",
@@ -1183,10 +1183,10 @@ void update_alt()
 
 		// XXX temp removed fr debugging
 		//filter out bad sonar reads
-		int temp 		= sonar.read();
+		int temp_sonar 		= sonar.read();
 
-		if(abs(temp - sonar_alt) < 300){
-			sonar_alt = temp;
+		if(abs(temp_sonar - sonar_alt) < 300){
+			sonar_alt = temp_sonar;
 		}
 
 		//sonar_alt = sonar.read();

ArduCopterMega/Log.pde

@@ -221,10 +221,8 @@ byte get_num_logs(void)
 
 void start_new_log(byte num_existing_logs)
 {
-	int page;
 	int start_pages[50] = {0,0,0};
 	int end_pages[50]	= {0,0,0};
-	byte data;
 
 	if (num_existing_logs > 0) {
 		for(int i=0;i<num_existing_logs;i++) {

ArduCopterMega/Mavlink_Common.h

@@ -83,7 +83,7 @@ void mavlink_send_message(mavlink_channel_t chan, uint8_t id, uint32_t param, ui
 
 		case MSG_ATTITUDE:
 		{
-			Vector3f omega = dcm.get_gyro();
+			//Vector3f omega = dcm.get_gyro();
 			mavlink_msg_attitude_send(
 					chan,
 					timeStamp,
@@ -276,4 +276,5 @@ void mavlink_acknowledge(mavlink_channel_t chan, uint8_t id, uint8_t sum1, uint8
 
 #endif // mavlink in use
 
-#endif // inclusion guard
+#endif // inclusion guard
+

ArduCopterMega/commands_logic.pde

@@ -370,7 +370,7 @@ bool verify_land()
 		//return true;
 	}
 	//Serial.printf("N, %d\n", velocity_land);
-	Serial.printf("N_alt, %d\n", next_WP.alt);
+	Serial.printf("N_alt, %ld\n", next_WP.alt);
 
 	//update_crosstrack();
 	return false;

ArduCopterMega/read_commands.pde

@@ -5,32 +5,31 @@ char input_buffer[INPUT_BUF_LEN];
 
 void readCommands(void)
 {
-	static byte bufferPointer = 0;
 	static byte header[2];
 	const byte read_GS_header[] 	= {0x21, 0x21}; //!! Used to verify the payload msg header
 
 	if(Serial.available()){
 		//Serial.println("Serial.available");
 		byte bufferPointer;
-				
+
 		header[0] = Serial.read();
-		header[1] = Serial.read();		
-		
+		header[1] = Serial.read();
+
 		if((header[0] == read_GS_header[0]) && (header[1] == read_GS_header[1])){
-		
-			// Block until we read full command 
+
+			// Block until we read full command
 			// --------------------------------
 			delay(20);
 			byte incoming_val = 0;
 
-			// Ground Station communication 
+			// Ground Station communication
 			// ----------------------------
-			while(Serial.available() > 0) 
+			while(Serial.available() > 0)
 			{
-				incoming_val = Serial.read();		 
+				incoming_val = Serial.read();
 
-				if (incoming_val != 13 && incoming_val != 10 ) {	 
-					input_buffer[bufferPointer++] = incoming_val;	
+				if (incoming_val != 13 && incoming_val != 10 ) {
+					input_buffer[bufferPointer++] = incoming_val;
 				}
 
 				if(bufferPointer >= INPUT_BUF_LEN){
@@ -43,7 +42,7 @@ void readCommands(void)
 				}
 			}
 			parseCommand(input_buffer);
-			
+
 			// clear buffer of old data
 			// ------------------------
 			memset(input_buffer,0,sizeof(input_buffer));
@@ -61,14 +60,14 @@ void parseCommand(char *buffer)
 	Serial.println("got cmd ");
 	Serial.println(buffer);
 	char *token, *saveptr1, *saveptr2;
-	
+
 	for (int j = 1;; j++, buffer = NULL) {
 		token = strtok_r(buffer, "|", &saveptr1);
-		if (token == NULL) break;	
-		
+		if (token == NULL) break;
+
 		char * cmd 		= strtok_r(token, ":", &saveptr2);
 		long value		= strtol(strtok_r (NULL,":", &saveptr2), NULL,0);
-		
+
 		///*
 		Serial.print("cmd ");
 		Serial.print(cmd[0]);
@@ -94,7 +93,7 @@ void parseCommand(char *buffer)
 				//g.pid_stabilize_roll.kD((float)value / 1000);
 				//g.pid_stabilize_pitch.kD((float)value / 1000);
 				break;
-	
+
 			case 'X':
 				g.pid_stabilize_roll.imax(value * 100);
 				g.pid_stabilize_pitch.imax(value * 100);
@@ -106,7 +105,7 @@ void parseCommand(char *buffer)
 				break;
 		}
 		init_pids();
-		//*/	
+		//*/
 	}
 }
 

ArduCopterMega/setup.pde

@@ -67,7 +67,6 @@ setup_mode(uint8_t argc, const Menu::arg *argv)
 static int8_t
 setup_show(uint8_t argc, const Menu::arg *argv)
 {
-	uint8_t		i;
 	// clear the area
 	print_blanks(8);
 
@@ -92,9 +91,7 @@ setup_show(uint8_t argc, const Menu::arg *argv)
 static int8_t
 setup_factory(uint8_t argc, const Menu::arg *argv)
 {
-
-	uint8_t		i;
-	int			c;
+	int c;
 
 	Serial.printf_P(PSTR("\n'Y' + Enter to factory reset, any other key to abort:\n"));
 
@@ -200,7 +197,8 @@ setup_radio(uint8_t argc, const Menu::arg *argv)
 static int8_t
 setup_esc(uint8_t argc, const Menu::arg *argv)
 {
-	Serial.printf_P(PSTR("\nUnplug battery, calibrate as usual.\n Press Enter to cancel.\n"));
+	Serial.printf_P(PSTR("\nUnplug, then plug-in battery; Calibrate ESCs.\n Press Enter to cancel.\n"));
+
 
 	g.esc_calibrate.set_and_save(1);
 
@@ -209,7 +207,7 @@ setup_esc(uint8_t argc, const Menu::arg *argv)
 
 		if(Serial.available() > 0){
 			g.esc_calibrate.set_and_save(0);
-			break;
+			return(0);
 		}
 	}
 }
@@ -409,7 +407,7 @@ setup_pid(uint8_t argc, const Menu::arg *argv)
 static int8_t
 setup_flightmodes(uint8_t argc, const Menu::arg *argv)
 {
-	byte switchPosition, oldSwitchPosition, mode;
+	byte switchPosition, _oldSwitchPosition, mode;
 
 	Serial.printf_P(PSTR("\nMove RC toggle switch to each position to edit, move aileron stick to select modes."));
 	print_hit_enter();
@@ -421,7 +419,7 @@ setup_flightmodes(uint8_t argc, const Menu::arg *argv)
 
 
 		// look for control switch change
-		if (oldSwitchPosition != switchPosition){
+		if (_oldSwitchPosition != switchPosition){
 
 			mode = g.flight_modes[switchPosition];
 			mode = constrain(mode, 0, NUM_MODES-1);
@@ -430,7 +428,7 @@ setup_flightmodes(uint8_t argc, const Menu::arg *argv)
 			print_switch(switchPosition, mode);
 
 			// Remember switch position
-			oldSwitchPosition = switchPosition;
+			_oldSwitchPosition = switchPosition;
 		}
 
 		// look for stick input

ArduCopterMega/system.pde

@@ -119,7 +119,7 @@ void init_ardupilot()
 		}
 
 	}else{
-	    unsigned long before = micros();
+		// unsigned long before = micros();
 	    // Load all auto-loaded EEPROM variables
 	    AP_Var::load_all();
 
@@ -263,7 +263,6 @@ void startup_ground(void)
 	// -------------------
 	init_commands();
 
-    byte counter = 4;
     GPS_enabled = false;
 
     // Read in the GPS

ArduCopterMega/test.pde

@@ -842,8 +842,6 @@ test_sonar(uint8_t argc, const Menu::arg *argv)
 static int8_t
 test_mission(uint8_t argc, const Menu::arg *argv)
 {
-	//print_hit_enter();
-	//delay(1000);
 	//write out a basic mission to the EEPROM
 	Location t;
 /*{
@@ -911,7 +909,7 @@ void fake_out_gps()
 	g_gps->new_data 	= true;
 	g_gps->fix	 	= true;
 
-	int length = g.rc_6.control_in;
+	//int length = g.rc_6.control_in;
 	rads += .05;
 
 	if (rads > 6.28){