Fix remote HIL mode and some compiler warnings.

microsoft · Feb 20, 2017 · 3a2f045 · 3a2f045
1 parent 3bb79b5
commit 3a2f045
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Showing 4 changed files with 18 additions and 13 deletions.
diff --git a/AirLib/src/control/MavLinkHelper.cpp b/AirLib/src/control/MavLinkHelper.cpp
@@ -279,7 +279,12 @@ struct MavLinkHelper::impl {
     void createHILUdpConnection(const std::string& ip, int port)
     {
         close();
-        connection_ = MavLinkConnection::connectLocalUdp("hil", ip, port);
+		if (ip == LocalHostIp) {
+			connection_ = MavLinkConnection::connectLocalUdp("hil", ip, port);
+		}
+		else {
+			connection_ = MavLinkConnection::connectRemoteUdp("hil", LocalHostIp, ip, port);
+		}
         main_node_ = std::make_shared<MavLinkNode>(SimSysID, SimCompID); 
         main_node_->connect(connection_);
     }

diff --git a/MavLinkCom/MavLinkTest/main.cpp b/MavLinkCom/MavLinkTest/main.cpp
@@ -449,15 +449,15 @@ void mavlink_quaternion_to_dcm(const float quaternion[4], float dcm[3][3])
 	double bSq = b * b;
 	double cSq = c * c;
 	double dSq = d * d;
-	dcm[0][0] = aSq + bSq - cSq - dSq;
-	dcm[0][1] = 2 * (b * c - a * d);
-	dcm[0][2] = 2 * (a * c + b * d);
-	dcm[1][0] = 2 * (b * c + a * d);
-	dcm[1][1] = aSq - bSq + cSq - dSq;
-	dcm[1][2] = 2 * (c * d - a * b);
-	dcm[2][0] = 2 * (b * d - a * c);
-	dcm[2][1] = 2 * (a * b + c * d);
-	dcm[2][2] = aSq - bSq - cSq + dSq;
+	dcm[0][0] = static_cast<float>(aSq + bSq - cSq - dSq);
+	dcm[0][1] = static_cast<float>(2 * (b * c - a * d));
+	dcm[0][2] = static_cast<float>(2 * (a * c + b * d));
+	dcm[1][0] = static_cast<float>(2 * (b * c + a * d));
+	dcm[1][1] = static_cast<float>(aSq - bSq + cSq - dSq);
+	dcm[1][2] = static_cast<float>(2 * (c * d - a * b));
+	dcm[2][0] = static_cast<float>(2 * (b * d - a * c));
+	dcm[2][1] = static_cast<float>(2 * (a * b + c * d));
+	dcm[2][2] = static_cast<float>(aSq - bSq - cSq + dSq);
 }
 void mavlink_dcm_to_euler(const float dcm[3][3], float* roll, float* pitch, float* yaw)
 {
@@ -956,7 +956,7 @@ int console() {
 		sendImage->setLogViewer(logViewer);
 	}
 
-	checkPulse(mavLinkVehicle);
+	//checkPulse(mavLinkVehicle);
 
 	int retries = 0;
 	while (retries++ < 5) {

diff --git a/MavLinkCom/src/impl/MavLinkConnectionImpl.cpp b/MavLinkCom/src/impl/MavLinkConnectionImpl.cpp
@@ -298,7 +298,7 @@ void MavLinkConnectionImpl::readPackets()
                         std::lock_guard<std::mutex> guard(msg_queue_mutex_);
                         MavLinkMessage& message = reinterpret_cast<MavLinkMessage&>(msg);
                         msg_queue_.push(message);
-                        long size = msg_queue_.size();
+                        size_t size = msg_queue_.size();
                         if (size > max_queue_length_) {
                             max_queue_length_ = size;
                         }

diff --git a/MavLinkCom/src/impl/MavLinkConnectionImpl.hpp b/MavLinkCom/src/impl/MavLinkConnectionImpl.hpp
@@ -78,7 +78,7 @@ namespace mavlinkcom_impl {
 		std::mutex msg_queue_mutex_;
 		MavLinkSemaphore msg_available_;
 		bool waiting_for_msg_ = false;
-		long max_queue_length_ = 0;
+		size_t max_queue_length_ = 0;
 		long mavlink_errors_ = 0;
 	};
 }