Working on comments.

apps/mathlib/math/Dcm.cpp

@@ -138,25 +138,25 @@ int __EXPORT dcmTest()
 			   Matrix::identity(3)));
 	// quaternion ctor
 	ASSERT(matrixEqual(
-	 	Dcm(Quaternion(0.983347, 0.034271, 0.106021, 0.143572)),
-		Dcm( 0.9362934, -0.2750958,  0.2183507,  
- 			 0.2896295,  0.9564251, -0.0369570, 
-			-0.1986693,  0.0978434,  0.9751703)));
+	 	Dcm(Quaternion(0.983347f, 0.034271f, 0.106021f, 0.143572f)),
+		Dcm( 0.9362934f, -0.2750958f,  0.2183507f,  
+ 			 0.2896295f,  0.9564251f, -0.0369570f, 
+			-0.1986693f,  0.0978434f,  0.9751703f)));
 	// euler angle ctor
 	ASSERT(matrixEqual(
-		Dcm(EulerAngles(0.1, 0.2, 0.3)),
-		Dcm( 0.9362934, -0.2750958,  0.2183507,  
- 			 0.2896295,  0.9564251, -0.0369570, 
-			-0.1986693,  0.0978434,  0.9751703)));
+		Dcm(EulerAngles(0.1f, 0.2f, 0.3f)),
+		Dcm( 0.9362934f, -0.2750958f,  0.2183507f,  
+ 			 0.2896295f,  0.9564251f, -0.0369570f, 
+			-0.1986693f,  0.0978434f,  0.9751703f)));
 	// rotations
 	Vector3 vB(1, 2, 3);
-	ASSERT(vectorEqual(Vector3(-2, 1, 3),
-			   Dcm(EulerAngles(0, 0, M_PI_2_F))*vB));
-	ASSERT(vectorEqual(Vector3(3, 2, -1),
-			   Dcm(EulerAngles(0, M_PI_2_F, 0))*vB));
-	ASSERT(vectorEqual(Vector3(1, -3, 2),
-			   Dcm(EulerAngles(M_PI_2_F, 0, 0))*vB));
-	ASSERT(vectorEqual(Vector3(3, 2, -1),
+	ASSERT(vectorEqual(Vector3(-2.0f, 1.0f, 3.0f),
+			   Dcm(EulerAngles(0.0f, 0.0f, M_PI_2_F))*vB));
+	ASSERT(vectorEqual(Vector3(3.0f, 2.0f, -1.0f),
+			   Dcm(EulerAngles(0.0f, M_PI_2_F, 0.0f))*vB));
+	ASSERT(vectorEqual(Vector3(1.0f, -3.0f, 2.0f),
+			   Dcm(EulerAngles(M_PI_2_F, 0.0f, 0.0f))*vB));
+	ASSERT(vectorEqual(Vector3(3.0f, 2.0f, -1.0f),
 			   Dcm(EulerAngles(
 				       M_PI_2_F, M_PI_2_F, M_PI_2_F))*vB));
 	printf("PASS\n");

apps/mathlib/math/EulerAngles.cpp

@@ -97,27 +97,27 @@ EulerAngles::~EulerAngles()
 int __EXPORT eulerAnglesTest()
 {
 	printf("Test EulerAngles\t: ");
-	EulerAngles euler(0.1, 0.2, 0.3);
+	EulerAngles euler(0.1f, 0.2f, 0.3f);
 
 	// test ctor
-	ASSERT(vectorEqual(Vector3(0.1, 0.2, 0.3), euler));
-	ASSERT(equal(euler.getPhi(), 0.1));
-	ASSERT(equal(euler.getTheta(), 0.2));
-	ASSERT(equal(euler.getPsi(), 0.3));
+	ASSERT(vectorEqual(Vector3(0.1f, 0.2f, 0.3f), euler));
+	ASSERT(equal(euler.getPhi(), 0.1f));
+	ASSERT(equal(euler.getTheta(), 0.2f));
+	ASSERT(equal(euler.getPsi(), 0.3f));
 
 	// test dcm ctor
-	euler = Dcm(EulerAngles(0.1,0.2,0.3));
-	ASSERT(vectorEqual(Vector3(0.1,0.2,0.3),euler));
+	euler = Dcm(EulerAngles(0.1f, 0.2f, 0.3f));
+	ASSERT(vectorEqual(Vector3(0.1f, 0.2f, 0.3f),euler));
 
 	// test quat ctor
-	euler = Quaternion(EulerAngles(0.1,0.2,0.3));
-	ASSERT(vectorEqual(Vector3(0.1,0.2,0.3),euler));
+	euler = Quaternion(EulerAngles(0.1f, 0.2f, 0.3f));
+	ASSERT(vectorEqual(Vector3(0.1f, 0.2f, 0.3f),euler));
 
 	// test assignment
-	euler.setPhi(0.4);
-	euler.setTheta(0.5);
-	euler.setPsi(0.6);
-	ASSERT(vectorEqual(Vector3(0.4,0.5,0.6),euler));
+	euler.setPhi(0.4f);
+	euler.setTheta(0.5f);
+	euler.setPsi(0.6f);
+	ASSERT(vectorEqual(Vector3(0.4f, 0.5f, 0.6f),euler));
 
 	printf("PASS\n");
 	return 0;

apps/mathlib/math/Quaternion.cpp

@@ -144,29 +144,29 @@ int __EXPORT quaternionTest()
 	printf("Test Quaternion\t\t: ");
 	// test default ctor
 	Quaternion q;
-	ASSERT(equal(q.getA(), 1));
-	ASSERT(equal(q.getB(), 0));
-	ASSERT(equal(q.getC(), 0));
-	ASSERT(equal(q.getD(), 0));
+	ASSERT(equal(q.getA(), 1.0f));
+	ASSERT(equal(q.getB(), 0.0f));
+	ASSERT(equal(q.getC(), 0.0f));
+	ASSERT(equal(q.getD(), 0.0f));
 	// test float ctor
-	q = Quaternion(0.1825742, 0.3651484, 0.5477226, 0.7302967);
-	ASSERT(equal(q.getA(), 0.1825742));
-	ASSERT(equal(q.getB(), 0.3651484));
-	ASSERT(equal(q.getC(), 0.5477226));
-	ASSERT(equal(q.getD(), 0.7302967));
+	q = Quaternion(0.1825742f, 0.3651484f, 0.5477226f, 0.7302967f);
+	ASSERT(equal(q.getA(), 0.1825742f));
+	ASSERT(equal(q.getB(), 0.3651484f));
+	ASSERT(equal(q.getC(), 0.5477226f));
+	ASSERT(equal(q.getD(), 0.7302967f));
 	// test euler ctor
-	q = Quaternion(EulerAngles(0.1, 0.2, 0.3));
-	ASSERT(vectorEqual(q, Quaternion(0.983347, 0.034271, 0.106021, 0.143572)));
+	q = Quaternion(EulerAngles(0.1f, 0.2f, 0.3f));
+	ASSERT(vectorEqual(q, Quaternion(0.983347f, 0.034271f, 0.106021f, 0.143572f)));
 	// test dcm ctor
 	q = Quaternion(Dcm());
-	ASSERT(vectorEqual(q, Quaternion(1, 0, 0, 0)));
+	ASSERT(vectorEqual(q, Quaternion(1.0f, 0.0f, 0.0f, 0.0f)));
 	// TODO test derivative
 	// test accessors
-	q.setA(0.1);
-	q.setB(0.2);
-	q.setC(0.3);
-	q.setD(0.4);
-	ASSERT(vectorEqual(q, Quaternion(0.1, 0.2, 0.3, 0.4)));
+	q.setA(0.1f);
+	q.setB(0.2f);
+	q.setC(0.3f);
+	q.setD(0.4f);
+	ASSERT(vectorEqual(q, Quaternion(0.1f, 0.2f, 0.3f, 0.4f)));
 	printf("PASS\n");
 	return 0;
 }

apps/mavlink/mavlink_receiver.c

@@ -346,11 +346,6 @@ handle_message(mavlink_message_t *msg)
 			hil_sensors.adc_voltage_v[1] = 0;
 			hil_sensors.adc_voltage_v[2] = 0;
 
-			/* battery */
-			hil_sensors.battery_voltage_counter = hil_counter;
-			hil_sensors.battery_voltage_v = 11.1f;
-			hil_sensors.battery_voltage_valid = true;
-
 			/* magnetometer */
 			float mga2ga = 1.0e-3f;
 			hil_sensors.magnetometer_counter = hil_counter;

apps/uORB/topics/sensor_combined.h

@@ -99,7 +99,6 @@ struct sensor_combined_s {
 	float baro_pres_mbar;			/**< Barometric pressure, already temp. comp.     */
 	float baro_alt_meter;			/**< Altitude, already temp. comp.                */
 	float baro_temp_celcius;		/**< Temperature in degrees celsius               */
-	float battery_voltage_v;		/**< Battery voltage in volts, filtered           */
 	float adc_voltage_v[4];			/**< ADC voltages of ADC Chan 10/11/12/13 or -1      */
 	float mcu_temp_celcius;			/**< Internal temperature measurement of MCU */
 	uint32_t baro_counter;			/**< Number of raw baro measurements taken        */