ArduPlane: replaced many "int" with "int16_t", "long" with "int32_t"

ArduPlane/ArduPlane.pde

@@ -631,7 +631,7 @@ static float G_Dt						= 0.02;
 // Timer used to accrue data and trigger recording of the performanc monitoring log message
 static int32_t 	perf_mon_timer;
 // The maximum main loop execution time recorded in the current performance monitoring interval
-static int 	G_Dt_max = 0;
+static int16_t 	G_Dt_max = 0;
 // The number of gps fixes recorded in the current performance monitoring interval
 static int16_t 	gps_fix_count = 0;
 // A variable used by developers to track performanc metrics.

ArduPlane/Attitude.pde

@@ -133,7 +133,7 @@ static void crash_checker()
 static void calc_throttle()
 {
     if (!airspeed.use()) {
-        int throttle_target = g.throttle_cruise + throttle_nudge;
+        int16_t throttle_target = g.throttle_cruise + throttle_nudge;
 
         // TODO: think up an elegant way to bump throttle when
         // groundspeed_undershoot > 0 in the no airspeed sensor case; PID
@@ -255,7 +255,7 @@ float roll_slew_limit(float servo)
  *****************************************/
 static void throttle_slew_limit()
 {
-	static int last = 1000;
+	static int16_t last = 1000;
 	if(g.throttle_slewrate) {		// if slew limit rate is set to zero then do not slew limit
 
 		float temp = g.throttle_slewrate * G_Dt * 10.f;		//  * 10 to scale % to pwm range of 1000 to 2000
@@ -281,7 +281,7 @@ static void reset_I(void)
 *****************************************/
 static void set_servos(void)
 {
-	int flapSpeedSource = 0;
+	int16_t flapSpeedSource = 0;
 
 	// vectorize the rc channels
 	RC_Channel_aux* rc_array[NUM_CHANNELS];

ArduPlane/GCS_Mavlink.pde

@@ -474,7 +474,7 @@ static void NOINLINE send_statustext(mavlink_channel_t chan)
 // try to send a message, return false if it won't fit in the serial tx buffer
 static bool mavlink_try_send_message(mavlink_channel_t chan, enum ap_message id, uint16_t packet_drops)
 {
-    int payload_space = comm_get_txspace(chan) - MAVLINK_NUM_NON_PAYLOAD_BYTES;
+    int16_t payload_space = comm_get_txspace(chan) - MAVLINK_NUM_NON_PAYLOAD_BYTES;
 
     if (chan == MAVLINK_COMM_1 && millis() < MAVLINK_TELEMETRY_PORT_DELAY) {
         // defer any messages on the telemetry port for 1 second after
@@ -946,7 +946,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
 			if (mavlink_check_target(packet.target_system, packet.target_component))
 				break;
 
-            int freq = 0; // packet frequency
+            int16_t freq = 0; // packet frequency
 
 			if (packet.start_stop == 0)
 				freq = 0; // stop sending
@@ -1963,10 +1963,10 @@ GCS_MAVLINK::queued_waypoint_send()
  MAVLink to process packets while waiting for the initialisation to
  complete
 */
-static void mavlink_delay(unsigned long t)
+static void mavlink_delay(uint32_t t)
 {
-    unsigned long tstart;
+    uint32_t tstart;
-    static unsigned long last_1hz, last_50hz, last_5s;
+    static uint32_t last_1hz, last_50hz, last_5s;
 
     if (in_mavlink_delay) {
         // this should never happen, but let's not tempt fate by
@@ -1979,7 +1979,7 @@ static void mavlink_delay(unsigned long t)
 
     tstart = millis();
     do {
-        unsigned long tnow = millis();
+        uint32_t tnow = millis();
         if (tnow - last_1hz > 1000) {
             last_1hz = tnow;
             gcs_send_message(MSG_HEARTBEAT);

ArduPlane/Parameters.pde

@@ -609,7 +609,7 @@ static void load_parameters(void)
 		g.format_version.set_and_save(Parameters::k_format_version);
 		Serial.println_P(PSTR("done."));
     } else {
-	    unsigned long before = micros();
+	    uint32_t before = micros();
 	    // Load all auto-loaded EEPROM variables
 	    AP_Param::load_all();
 

ArduPlane/commands.pde

@@ -40,10 +40,10 @@ static void reload_commands_airstart()
 
 // Getters
 // -------
-static struct Location get_cmd_with_index(int i)
+static struct Location get_cmd_with_index(int16_t i)
 {
 	struct Location temp;
-	long mem;
+	int32_t mem;
 
 	// Find out proper location in memory by using the start_byte position + the index
 	// --------------------------------------------------------------------------------
@@ -83,7 +83,7 @@ static struct Location get_cmd_with_index(int i)
 
 // Setters
 // -------
-static void set_cmd_with_index(struct Location temp, int i)
+static void set_cmd_with_index(struct Location temp, int16_t i)
 {
 	i = constrain(i, 0, g.command_total.get());
 	intptr_t mem = WP_START_BYTE + (i * WP_SIZE);
@@ -121,7 +121,7 @@ static void decrement_cmd_index()
     }
 }
 
-static long read_alt_to_hold()
+static int32_t read_alt_to_hold()
 {
 	if (g.RTL_altitude_cm < 0) {
 		return current_loc.alt;

ArduPlane/events.pde

@@ -1,7 +1,7 @@
 // -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
 
 
-static void failsafe_short_on_event(int fstype)
+static void failsafe_short_on_event(int16_t fstype)
 {
 	// This is how to handle a short loss of control signal failsafe.
 	failsafe = fstype;
@@ -32,7 +32,7 @@ static void failsafe_short_on_event(int fstype)
     gcs_send_text_fmt(PSTR("flight mode = %u"), (unsigned)control_mode);
 }
 
-static void failsafe_long_on_event(int fstype)
+static void failsafe_long_on_event(int16_t fstype)
 {
 	// This is how to handle a long loss of control signal failsafe.
 	gcs_send_text_P(SEVERITY_LOW, PSTR("Failsafe - Long event on, "));

ArduPlane/planner.pde

@@ -32,7 +32,7 @@ planner_gcs(uint8_t argc, const Menu::arg *argv)
   gcs3.init(&Serial3);
 #endif
 
-  int loopcount = 0;
+  int16_t loopcount = 0;
   while (1) {
     if (millis()-fast_loopTimer_ms > 19) {
       fast_loopTimer_ms      = millis();

ArduPlane/setup.pde

@@ -217,7 +217,7 @@ setup_flightmodes(uint8_t argc, const Menu::arg *argv)
 		}
 
 		// look for stick input
-		int radioInputSwitch = radio_input_switch();
+		int16_t radioInputSwitch = radio_input_switch();
 
 		if (radioInputSwitch != 0){
 
@@ -480,7 +480,7 @@ static void report_flight_modes()
 	Serial.printf_P(PSTR("Flight modes\n"));
 	print_divider();
 
-	for(int i = 0; i < 6; i++ ){
+	for(int16_t i = 0; i < 6; i++ ){
 		print_switch(i, flight_modes[i]);
 	}
 	print_blanks(2);
@@ -528,7 +528,7 @@ print_done()
 }
 
 static void
-print_blanks(int num)
+print_blanks(int16_t num)
 {
 	while(num > 0){
 		num--;
@@ -539,7 +539,7 @@ print_blanks(int num)
 static void
 print_divider(void)
 {
-	for (int i = 0; i < 40; i++) {
+	for (int16_t i = 0; i < 40; i++) {
 		Serial.printf_P(PSTR("-"));
 	}
 	Serial.println("");

ArduPlane/test.pde

@@ -137,7 +137,7 @@ test_passthru(uint8_t argc, const Menu::arg *argv)
         // New radio frame? (we could use also if((millis()- timer) > 20)
         if (APM_RC.GetState() == 1){
             Serial.print("CH:");
-            for(int i = 0; i < 8; i++){
+            for(int16_t i = 0; i < 8; i++){
                 Serial.print(APM_RC.InputCh(i));	// Print channel values
                 Serial.print(",");
                 APM_RC.OutputCh(i, APM_RC.InputCh(i)); // Copy input to Servos
@@ -195,7 +195,7 @@ test_failsafe(uint8_t argc, const Menu::arg *argv)
 {
 	byte fail_test;
 	print_hit_enter();
-	for(int i = 0; i < 50; i++){
+	for(int16_t i = 0; i < 50; i++){
 		delay(20);
 		read_radio();
 	}
@@ -423,7 +423,7 @@ test_adc(uint8_t argc, const Menu::arg *argv)
 	delay(1000);
 
 	while(1){
-		for (int i=0;i<9;i++) Serial.printf_P(PSTR("%.1f\t"),adc.Ch(i));
+		for (int16_t i=0;i<9;i++) Serial.printf_P(PSTR("%.1f\t"),adc.Ch(i));
 		Serial.println();
 		delay(100);
 		if(Serial.available() > 0){
@@ -531,7 +531,7 @@ test_mag(uint8_t argc, const Menu::arg *argv)
 	imu.init(IMU::COLD_START, delay, flash_leds, &timer_scheduler);
     ahrs.reset();
 
-	int counter = 0;
+	int16_t counter = 0;
     float heading = 0;
 
 		//Serial.printf_P(PSTR("MAG_ORIENTATION: %d\n"), MAG_ORIENTATION);