Cast AP_Var types for safe printf calls.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1690 f9c3cf11-9bcb-44bc-f272-b75c42450872

ArduCopterMega/setup.pde

@@ -15,7 +15,7 @@ static int8_t	setup_mag_offset		(uint8_t argc, const Menu::arg *argv);
 static int8_t	setup_declination		(uint8_t argc, const Menu::arg *argv);
 static int8_t	setup_show				(uint8_t argc, const Menu::arg *argv);
 
-// Command/function table for the setup menu 
+// Command/function table for the setup menu
 const struct Menu::command setup_menu_commands[] PROGMEM = {
 	// command			function called
 	// =======        	===============
@@ -61,7 +61,7 @@ setup_show(uint8_t argc, const Menu::arg *argv)
 	uint8_t		i;
 	// clear the area
 	print_blanks(8);
-	
+
 	report_radio();
 	report_frame();
 	report_current();
@@ -88,14 +88,14 @@ setup_factory(uint8_t argc, const Menu::arg *argv)
 	do {
 		c = Serial.read();
 	} while (-1 == c);
-	
+
 	if (('y' != c) && ('Y' != c))
 		return(-1);
-	
+
 	//zero_eeprom();
 	default_gains();
-	
-	
+
+
 	// setup default values
 	default_waypoint_info();
 	default_nav();
@@ -106,7 +106,7 @@ setup_factory(uint8_t argc, const Menu::arg *argv)
 	default_logs();
 	default_current();
 	print_done();
-	
+
 	// finish
 	// ------
 	return(0);
@@ -119,12 +119,12 @@ setup_radio(uint8_t argc, const Menu::arg *argv)
 {
 	Serial.println("\n\nRadio Setup:");
 	uint8_t i;
-	
+
 	for(i = 0; i < 100;i++){
 		delay(20);
 		read_radio();
 	}
-	
+
 	if(g.rc_1.radio_in < 500){
 		while(1){
 			Serial.printf_P(PSTR("\nNo radio; Check connectors."));
@@ -132,7 +132,7 @@ setup_radio(uint8_t argc, const Menu::arg *argv)
 			// stop here
 		}
 	}
-	
+
 	g.rc_1.radio_min = g.rc_1.radio_in;
 	g.rc_2.radio_min = g.rc_2.radio_in;
 	g.rc_3.radio_min = g.rc_3.radio_in;
@@ -163,7 +163,7 @@ setup_radio(uint8_t argc, const Menu::arg *argv)
 
 	Serial.printf_P(PSTR("\nMove all controls to each extreme. Hit Enter to save: "));
 	while(1){
-		
+
 		delay(20);
 		// Filters radio input - adjust filters in the radio.pde file
 		// ----------------------------------------------------------
@@ -177,11 +177,11 @@ setup_radio(uint8_t argc, const Menu::arg *argv)
 		g.rc_6.update_min_max();
 		g.rc_7.update_min_max();
 		g.rc_8.update_min_max();
-		
+
 		if(Serial.available() > 0){
 			//g.rc_3.radio_max += 250;
 			Serial.flush();
-			
+
 			save_EEPROM_radio();
 			//delay(100);
 			// double checking
@@ -209,9 +209,9 @@ setup_motors(uint8_t argc, const Menu::arg *argv)
 	print_hit_enter();
 	delay(1000);
 
-	
+
 	int out_min = g.rc_3.radio_min + 70;
-	
+
 
 
 	while(1){
@@ -222,22 +222,22 @@ setup_motors(uint8_t argc, const Menu::arg *argv)
 		motor_out[CH_3]	= g.rc_3.radio_min;
 		motor_out[CH_4] = g.rc_3.radio_min;
 
-	
-		
+
+
 		if(g.frame_type == PLUS_FRAME){
 			if(g.rc_1.control_in > 0){
 				motor_out[CH_1] 	= out_min;
 				Serial.println("0");
-				
+
 			}else if(g.rc_1.control_in < 0){
 				motor_out[CH_2]		= out_min;
 				Serial.println("1");
 			}
-			
+
 			if(g.rc_2.control_in > 0){
 				motor_out[CH_4] 	= out_min;
 				Serial.println("3");
-				
+
 			}else if(g.rc_2.control_in < 0){
 				motor_out[CH_3]	= out_min;
 				Serial.println("2");
@@ -264,31 +264,31 @@ setup_motors(uint8_t argc, const Menu::arg *argv)
 				motor_out[CH_1]	= out_min;
 				Serial.println("0");
 			}
-			
+
 		}else if(g.frame_type == TRI_FRAME){
 
 			if(g.rc_1.control_in > 0){
 				motor_out[CH_1] 	= out_min;
-				
+
 			}else if(g.rc_1.control_in < 0){
 				motor_out[CH_2]		= out_min;
 			}
-			
+
 			if(g.rc_2.control_in > 0){
-				motor_out[CH_4] 	= out_min;	
+				motor_out[CH_4] 	= out_min;
 			}
 
 			if(g.rc_4.control_in > 0){
 				g.rc_4.servo_out	= 2000;
-				
+
 			}else if(g.rc_4.control_in < 0){
 				g.rc_4.servo_out	= -2000;
 			}
-			
+
 			g.rc_4.calc_pwm();
 			motor_out[CH_3] 	= g.rc_4.radio_out;
 		}
-		
+
 		if(g.rc_3.control_in > 0){
 			APM_RC.OutputCh(CH_1, g.rc_3.radio_in);
 			APM_RC.OutputCh(CH_2, g.rc_3.radio_in);
@@ -301,7 +301,7 @@ setup_motors(uint8_t argc, const Menu::arg *argv)
 			APM_RC.OutputCh(CH_3, motor_out[CH_3]);
 			APM_RC.OutputCh(CH_4, motor_out[CH_4]);
 		}
-		
+
 		if(Serial.available() > 0){
 			return (0);
 		}
@@ -312,7 +312,7 @@ static int8_t
 setup_accel(uint8_t argc, const Menu::arg *argv)
 {
 	Serial.printf_P(PSTR("\nHold ArduCopter completely still and level.\n"));
-	
+
 	imu.init_accel();
 	print_accel_offsets();
 
@@ -325,12 +325,12 @@ setup_pid(uint8_t argc, const Menu::arg *argv)
 {
 	if (!strcmp_P(argv[1].str, PSTR("default"))) {
 		default_gains();
-	
+
 	}else if (!strcmp_P(argv[1].str, PSTR("s_kp"))) {
 		g.pid_stabilize_roll.kP(argv[2].f);
 		g.pid_stabilize_pitch.kP(argv[2].f);
 		save_EEPROM_PID();
-	
+
 	}else if (!strcmp_P(argv[1].str, PSTR("s_kd"))) {
 		g.stabilize_dampener = argv[2].f;
 		save_EEPROM_PID();
@@ -353,7 +353,7 @@ setup_pid(uint8_t argc, const Menu::arg *argv)
 	}else{
 		default_gains();
 	}
-	
+
 
 	report_gains();
 }
@@ -362,20 +362,20 @@ static int8_t
 setup_flightmodes(uint8_t argc, const Menu::arg *argv)
 {
 	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();
 	trim_radio();
-	
+
 	while(1){
 		delay(20);
-		read_radio();		
+		read_radio();
 		switchPosition = readSwitch();
 
-		
+
 		// look for control switch change
 		if (oldSwitchPosition != switchPosition){
-		
+
 			mode = g.flight_modes[switchPosition];
 			mode = constrain(mode, 0, NUM_MODES-1);
 
@@ -383,12 +383,12 @@ setup_flightmodes(uint8_t argc, const Menu::arg *argv)
 			print_switch(switchPosition, mode);
 
 			// Remember switch position
-			oldSwitchPosition = switchPosition;			
+			oldSwitchPosition = switchPosition;
 		}
 
 		// look for stick input
 		if (radio_input_switch() == true){
-			mode++;	
+			mode++;
 			if(mode >= NUM_MODES)
 				mode = 0;
 
@@ -398,7 +398,7 @@ setup_flightmodes(uint8_t argc, const Menu::arg *argv)
 			// print new mode
 			print_switch(switchPosition, mode);
 		}
-		
+
 		// escape hatch
 		if(Serial.available() > 0){
 			save_EEPROM_flight_modes();
@@ -429,16 +429,16 @@ setup_compass(uint8_t argc, const Menu::arg *argv)
 	if (!strcmp_P(argv[1].str, PSTR("on"))) {
 		g.compass_enabled = true;
 		init_compass();
-	
+
 	} else if (!strcmp_P(argv[1].str, PSTR("off"))) {
 		g.compass_enabled = false;
-	
+
 	} else {
 		Serial.printf_P(PSTR("\nOptions:[on,off]\n"));
 		report_compass();
 		return 0;
 	}
-	
+
 	save_EEPROM_mag();
 	report_compass();
 	return 0;
@@ -452,7 +452,7 @@ setup_frame(uint8_t argc, const Menu::arg *argv)
 
 	} else if (!strcmp_P(argv[1].str, PSTR("x"))) {
 		g.frame_type = X_FRAME;
-	
+
 	} else if (!strcmp_P(argv[1].str, PSTR("tri"))) {
 		g.frame_type = TRI_FRAME;
 
@@ -464,7 +464,7 @@ setup_frame(uint8_t argc, const Menu::arg *argv)
 		report_frame();
 		return 0;
 	}
-	
+
 	save_EEPROM_frame();
 	report_frame();
 	return 0;
@@ -476,20 +476,20 @@ setup_current(uint8_t argc, const Menu::arg *argv)
 	if (!strcmp_P(argv[1].str, PSTR("on"))) {
 		g.current_enabled.set(true);
 		save_EEPROM_mag();
-	
+
 	} else if (!strcmp_P(argv[1].str, PSTR("off"))) {
 		g.current_enabled.set(false);
 		save_EEPROM_mag();
-	
+
 	} else if(argv[1].i > 10){
 		milliamp_hours = argv[1].i;
-	
+
 	} else {
 		Serial.printf_P(PSTR("\nOptions:[on, off, mAh]\n"));
 		report_current();
 		return 0;
 	}
-	
+
 	save_EEPROM_current();
 	report_current();
 	return 0;
@@ -508,7 +508,7 @@ setup_mag_offset(uint8_t argc, const Menu::arg *argv)
 	compass.set_orientation(MAGORIENTATION);		// set compass's orientation on aircraft
 	compass.set_offsets(0, 0, 0);					// set offsets to account for surrounding interference
 	compass.set_declination(ToRad(DECLINATION));	// set local difference between magnetic north and true north
-	//int counter = 0; 
+	//int counter = 0;
 	float _min[3], _max[3], _offset[3];
 
 	while(1){
@@ -536,15 +536,15 @@ setup_mag_offset(uint8_t argc, const Menu::arg *argv)
 			offset[0] = -(_max[0] + _min[0]) / 2;
 			offset[1] = -(_max[1] + _min[1]) / 2;
 			offset[2] = -(_max[2] + _min[2]) / 2;
-			
-			// display all to user			
+
+			// display all to user
 			Serial.printf_P(PSTR("Heading: "));
 			Serial.print(ToDeg(compass.heading));
 			Serial.print("  \t(");
 			Serial.print(compass.mag_x);
 			Serial.print(",");
 			Serial.print(compass.mag_y);
-			Serial.print(",");    
+			Serial.print(",");
 			Serial.print(compass.mag_z);
 			Serial.print(")\t offsets(");
 			Serial.print(offset[0]);
@@ -553,18 +553,18 @@ setup_mag_offset(uint8_t argc, const Menu::arg *argv)
 			Serial.print(",");
 			Serial.print(offset[2]);
 			Serial.println(")");
-						
+
 			if(Serial.available() > 0){
-				
+
 				//mag_offset_x = offset[0];
 				//mag_offset_y = offset[1];
 				//mag_offset_z = offset[2];
-			
+
 				//save_EEPROM_mag_offset();
-				
+
 				// set offsets to account for surrounding interference
 				//compass.set_offsets(mag_offset_x, mag_offset_y, mag_offset_z);
-				
+
 				report_compass();
 				break;
 			}
@@ -578,7 +578,7 @@ setup_mag_offset(uint8_t argc, const Menu::arg *argv)
 /***************************************************************************/
 
 void default_waypoint_info()
-{	
+{
 	g.waypoint_radius 		= 4; 	//TODO: Replace this quick fix with a real way to define wp_radius
 	g.loiter_radius 		= 30; 	//TODO: Replace this quick fix with a real way to define loiter_radius
 	save_EEPROM_waypoint_info();
@@ -646,7 +646,7 @@ void default_logs()
 
 	// convenience macro for testing LOG_* and setting LOGBIT_*
 	#define LOGBIT(_s)	(LOG_ ## _s ? LOGBIT_ ## _s : 0)
-	g.log_bitmask = 
+	g.log_bitmask =
 		LOGBIT(ATTITUDE_FAST)	|
 		LOGBIT(ATTITUDE_MED)	|
 		LOGBIT(GPS)				|
@@ -658,7 +658,7 @@ void default_logs()
 		LOGBIT(CMD)				|
 		LOGBIT(CURRENT);
 	#undef LOGBIT
-	
+
 	save_EEPROM_logs();
 }
 
@@ -671,7 +671,7 @@ default_gains()
 	g.pid_acro_rate_roll.kI(ACRO_RATE_ROLL_I);
 	g.pid_acro_rate_roll.kD(0);
 	g.pid_acro_rate_roll.imax(ACRO_RATE_ROLL_IMAX * 100);
-	
+
 	g.pid_acro_rate_pitch.kP(ACRO_RATE_PITCH_P);
 	g.pid_acro_rate_pitch.kI(ACRO_RATE_PITCH_I);
 	g.pid_acro_rate_pitch.kD(0);
@@ -688,7 +688,7 @@ default_gains()
 	g.pid_stabilize_roll.kI(STABILIZE_ROLL_I);
 	g.pid_stabilize_roll.kD(0);
 	g.pid_stabilize_roll.imax(STABILIZE_ROLL_IMAX * 100);
-		
+
 	g.pid_stabilize_pitch.kP(STABILIZE_PITCH_P);
 	g.pid_stabilize_pitch.kI(STABILIZE_PITCH_I);
 	g.pid_stabilize_pitch.kD(0);
@@ -704,7 +704,7 @@ default_gains()
 	// custom dampeners
 	// roll pitch
 	g.stabilize_dampener 	= STABILIZE_DAMPENER;
-	
+
 	//yaw
 	g.hold_yaw_dampener	= HOLD_YAW_DAMPENER;
 
@@ -729,7 +729,7 @@ default_gains()
 	g.pid_sonar_throttle.kI(THROTTLE_SONAR_I);
 	g.pid_sonar_throttle.kD(THROTTLE_SONAR_D);
 	g.pid_sonar_throttle.imax(THROTTLE_SONAR_IMAX);
-	
+
 	save_EEPROM_PID();
 }
 
@@ -759,7 +759,7 @@ void report_frame()
 	Serial.printf_P(PSTR("Frame\n"));
 	print_divider();
 
-	
+
 	if(g.frame_type == X_FRAME)
 		Serial.printf_P(PSTR("X "));
 	else if(g.frame_type == PLUS_FRAME)
@@ -806,10 +806,10 @@ void report_gains()
 	print_PID(&g.pid_stabilize_pitch);
 	Serial.printf_P(PSTR("yaw:\n"));
 	print_PID(&g.pid_yaw);
-	
-	Serial.printf_P(PSTR("Stabilize dampener: %4.3f\n"), g.stabilize_dampener);	
-	Serial.printf_P(PSTR("Yaw Dampener: %4.3f\n\n"), g.hold_yaw_dampener);
-	
+
+	Serial.printf_P(PSTR("Stabilize dampener: %4.3f\n"), (float)g.stabilize_dampener);
+	Serial.printf_P(PSTR("Yaw Dampener: %4.3f\n\n"), (float)g.hold_yaw_dampener);
+
 	// Nav
 	Serial.printf_P(PSTR("Nav:\nlat:\n"));
 	print_PID(&g.pid_nav_lat);
@@ -832,9 +832,9 @@ void report_xtrack()
 	Serial.printf_P(PSTR("XTRACK: %4.2f\n"
 						 "XTRACK angle: %d\n"
 						 "PITCH_MAX: %ld"),
-						 g.crosstrack_gain,
-						 g.crosstrack_entry_angle,
-						 g.pitch_max);
+						 (float)g.crosstrack_gain,
+						 (int)g.crosstrack_entry_angle,
+						 (long)g.pitch_max);
 	print_blanks(1);
 }
 
@@ -850,11 +850,11 @@ void report_throttle()
 						 "cruise: %d\n"
 						 "failsafe_enabled: %d\n"
 						 "failsafe_value: %d"),
-						 g.throttle_min,
-						 g.throttle_max,
-						 g.throttle_cruise,
-						 g.throttle_failsafe_enabled,
-						 g.throttle_failsafe_value);
+						 (int)g.throttle_min,
+						 (int)g.throttle_max,
+						 (int)g.throttle_cruise,
+						 (int)g.throttle_failsafe_enabled,
+						 (int)g.throttle_failsafe_value);
 	print_blanks(1);
 }
 
@@ -871,7 +871,7 @@ void report_imu()
 
 void report_compass()
 {
-	print_blanks(2);	
+	print_blanks(2);
 	Serial.printf_P(PSTR("Compass\n"));
 	print_divider();
 
@@ -880,11 +880,11 @@ void report_compass()
 	//read_EEPROM_compass_offset();
 
 	print_enabled(g.compass_enabled);
-	
+
 	// mag declination
-	Serial.printf_P(PSTR("Mag Delination: %4.4f\n"), 
+	Serial.printf_P(PSTR("Mag Delination: %4.4f\n"),
 							degrees(compass.get_declination()));
-	
+
 	Vector3f offsets = compass.get_offsets();
 
 	// mag offsets
@@ -898,11 +898,11 @@ void report_compass()
 
 void report_flight_modes()
 {
-	print_blanks(2);	
+	print_blanks(2);
 	Serial.printf_P(PSTR("Flight modes\n"));
 	print_divider();
 	read_EEPROM_flight_modes();
-		
+
 	for(int i = 0; i < 6; i++ ){
 		print_switch(i, g.flight_modes[i]);
 	}
@@ -913,23 +913,23 @@ void report_flight_modes()
 // CLI utilities
 /***************************************************************************/
 
-void 
+void
 print_PID(PID * pid)
 {
 	Serial.printf_P(PSTR("P: %4.3f, I:%4.3f, D:%4.3f, IMAX:%ld\n"), pid->kP(), pid->kI(), pid->kD(), (long)pid->imax());
 }
 
-void 
+void
 print_radio_values()
 {
-	Serial.printf_P(PSTR("CH1: %d | %d\n"), g.rc_1.radio_min, g.rc_1.radio_max);
-	Serial.printf_P(PSTR("CH2: %d | %d\n"), g.rc_2.radio_min, g.rc_2.radio_max);
-	Serial.printf_P(PSTR("CH3: %d | %d\n"), g.rc_3.radio_min, g.rc_3.radio_max);
-	Serial.printf_P(PSTR("CH4: %d | %d\n"), g.rc_4.radio_min, g.rc_4.radio_max);
-	Serial.printf_P(PSTR("CH5: %d | %d\n"), g.rc_5.radio_min, g.rc_5.radio_max);
-	Serial.printf_P(PSTR("CH6: %d | %d\n"), g.rc_6.radio_min, g.rc_6.radio_max);
-	Serial.printf_P(PSTR("CH7: %d | %d\n"), g.rc_7.radio_min, g.rc_7.radio_max);
-	Serial.printf_P(PSTR("CH8: %d | %d\n"), g.rc_8.radio_min, g.rc_8.radio_max);
+	Serial.printf_P(PSTR("CH1: %d | %d\n"), (int)g.rc_1.radio_min, (int)g.rc_1.radio_max);
+	Serial.printf_P(PSTR("CH2: %d | %d\n"), (int)g.rc_2.radio_min, (int)g.rc_2.radio_max);
+	Serial.printf_P(PSTR("CH3: %d | %d\n"), (int)g.rc_3.radio_min, (int)g.rc_3.radio_max);
+	Serial.printf_P(PSTR("CH4: %d | %d\n"), (int)g.rc_4.radio_min, (int)g.rc_4.radio_max);
+	Serial.printf_P(PSTR("CH5: %d | %d\n"), (int)g.rc_5.radio_min, (int)g.rc_5.radio_max);
+	Serial.printf_P(PSTR("CH6: %d | %d\n"), (int)g.rc_6.radio_min, (int)g.rc_6.radio_max);
+	Serial.printf_P(PSTR("CH7: %d | %d\n"), (int)g.rc_7.radio_min, (int)g.rc_7.radio_max);
+	Serial.printf_P(PSTR("CH8: %d | %d\n"), (int)g.rc_8.radio_min, (int)g.rc_8.radio_max);
 }
 
 void
@@ -969,7 +969,7 @@ boolean
 radio_input_switch(void)
 {
 	static byte bouncer;
-	
+
 	if (abs(g.rc_1.radio_in - g.rc_1.radio_trim) > 200)
 		bouncer = 10;
 

ArduCopterMega/test.pde

@@ -795,7 +795,7 @@ test_pressure(uint8_t argc, const Menu::arg *argv)
 						current_loc.alt,
 						next_WP.alt,
 						altitude_error,
-						g.throttle_cruise,
+						(int)g.throttle_cruise,
 						g.rc_3.servo_out);
 
 			/*