mavlink simple analyzer remove <limits> usage

- <limits> isn't available in the NuttX c++ standard library

src/modules/mavlink/mavlink_high_latency2.cpp

@@ -138,9 +138,7 @@ bool MavlinkStreamHighLatency2::send(const hrt_abstime t)
 		updated |= write_wind_estimate(&msg);
 
 		if (updated) {
-			uint32_t timestamp;
-			convert_limit_safe(t / 1000, timestamp);
-			msg.timestamp = timestamp;
+			msg.timestamp = t / 1000;
 
 			msg.type = _mavlink->get_system_type();
 			msg.autopilot = MAV_AUTOPILOT_PX4;
@@ -317,13 +315,10 @@ bool MavlinkStreamHighLatency2::write_global_position(mavlink_high_latency2_t *m
 	const bool updated = _global_pos_sub->update(&_global_pos_time, &global_pos);
 
 	if (_global_pos_time > 0) {
-		int32_t latitude, longitude;
-		convert_limit_safe(global_pos.lat * 1e7, latitude);
-		convert_limit_safe(global_pos.lon * 1e7, longitude);
-		msg->latitude = latitude;
-		msg->longitude = longitude;
+		msg->latitude = global_pos.lat * 1e7;
+		msg->longitude = global_pos.lon * 1e7;
 
-		int16_t altitude;
+		int16_t altitude = 0;
 
 		if (global_pos.alt > 0) {
 			convert_limit_safe(global_pos.alt + 0.5f, altitude);

src/modules/mavlink/mavlink_simple_analyzer.cpp

@@ -146,3 +146,29 @@ void SimpleAnalyzer::int_round(float &x) const
 		x += 0.5f;
 	}
 }
+
+void convert_limit_safe(float in, uint16_t &out)
+{
+	if (in > UINT16_MAX) {
+		out = UINT16_MAX;
+
+	} else if (in < 0) {
+		out = 0;
+
+	} else {
+		out = static_cast<uint16_t>(in);
+	}
+}
+
+void convert_limit_safe(float in, int16_t &out)
+{
+	if (in > INT16_MAX) {
+		out = INT16_MAX;
+
+	} else if (in < INT16_MIN) {
+		out = INT16_MIN;
+
+	} else {
+		out = static_cast<int16_t>(in);
+	}
+}

src/modules/mavlink/mavlink_simple_analyzer.h

@@ -39,7 +39,8 @@
 
 #pragma once
 
-#include <limits>
+#include <float.h>
+#include <stdint.h>
 
 /**
  * SimpleAnalyzer
@@ -115,14 +116,22 @@ public:
 	 * @param[out] ret: The scaled and rounded value of the current analyzer result.
 	 * @parma[in] scalingfactor: The factor which is used to scale the result.
 	 */
-	template <typename T>
-	void get_scaled(T &ret, float scalingfactor) const
+	void get_scaled(uint8_t &ret, float scalingfactor) const
 	{
 		float avg = get_scaled(scalingfactor);
 		int_round(avg);
-		check_limits(avg, std::numeric_limits<T>::min(), std::numeric_limits<T>::max());
+		check_limits(avg, 0, UINT8_MAX);
 
-		ret = static_cast<T>(avg);
+		ret = static_cast<uint8_t>(avg);
+	}
+
+	void get_scaled(int8_t &ret, float scalingfactor) const
+	{
+		float avg = get_scaled(scalingfactor);
+		int_round(avg);
+		check_limits(avg, INT8_MIN, INT8_MAX);
+
+		ret = static_cast<int8_t>(avg);
 	}
 
 private:
@@ -135,16 +144,5 @@ private:
 	void int_round(float &x) const;
 };
 
-template<typename Tin, typename Tout>
-void convert_limit_safe(Tin in, Tout &out)
-{
-	if (in > std::numeric_limits<Tout>::max()) {
-		out = std::numeric_limits<Tout>::max();
-
-	} else if (in < std::numeric_limits<Tout>::min()) {
-		out = std::numeric_limits<Tout>::min();
-
-	} else {
-		out = static_cast<Tout>(in);
-	}
-}
+void convert_limit_safe(float in, uint16_t &out);
+void convert_limit_safe(float in, int16_t &out);