Random fixes for GCC 13

[patrickelectric]

Solved SITL compilation problem with GCC 13

px4:

/home/patrick/git/blue/PX4-Autopilot/platforms/posix/src/px4/common/px4_daemon/pxh.cpp: In member function ‘void px4_daemon::Pxh::run_remote_pxh(int, int)’:                                                                   
/home/patrick/git/blue/PX4-Autopilot/platforms/posix/src/px4/common/px4_daemon/pxh.cpp:208:25: error: ‘uint8_t’ was not declared in this scope                                                                                 
  208 |                         uint8_t buffer[512];    

SquareMatrix:

In file included from /home/patrick/git/blue/PX4-Autopilot/src/lib/matrix/matrix/math.hpp:8,                                                                                                                                   
                 from /home/patrick/git/blue/PX4-Autopilot/src/lib/mathlib/math/Functions.hpp:45,                                                                                                                              
                 from /home/patrick/git/blue/PX4-Autopilot/src/lib/mathlib/math/filter/LowPassFilter2p.hpp:41,                                                                                                                 
                 from /home/patrick/git/blue/PX4-Autopilot/src/lib/controllib/BlockDelay.hpp:48,                                                                                                                               
                 from /home/patrick/git/blue/PX4-Autopilot/src/lib/controllib/blocks.hpp:42,                                                                                                                                   
                 from /home/patrick/git/blue/PX4-Autopilot/src/modules/local_position_estimator/sensors/../BlockLocalPositionEstimator.hpp:7,                                                                                  
                 from /home/patrick/git/blue/PX4-Autopilot/src/modules/local_position_estimator/sensors/lidar.cpp:1:                                                                                                           
In member function ‘Type& matrix::Matrix<Type, M, N>::operator()(size_t, size_t) [with Type = float; long unsigned int M = 1; long unsigned int N = 1]’,                                                                       
    inlined from ‘bool matrix::inv(const SquareMatrix<Type, M>&, SquareMatrix<Type, M>&, size_t) [with Type = float; long unsigned int M = 1]’ at /home/patrick/git/blue/PX4-Autopilot/src/lib/matrix/matrix/SquareMatrix.hpp:3
49:20:                                                                                                                                                                                                                         
/home/patrick/git/blue/PX4-Autopilot/src/lib/matrix/matrix/Matrix.hpp:96:29: error: array subscript 1 is above array bounds of ‘float [1][1]’ [-Werror=array-bounds=]                                                          
   96 |                 return _data[i][j];                                                                                                                                                                                    
      |           

[dagar]

Where are we actually hitting this single element SquareMatrix and how did it slip through before?

[patrickelectric]

changed to fix the code style.

Where are we actually hitting this single element SquareMatrix and how did it slip through before?

PX4-Autopilot/blob/fixes/src/modules/local_position_estimator/sensors/sonar.cpp#L105

It appears that SquareMatrix<float, n_y_sonar> trigger the issue, where n_y_sonar is defined as 1.

PX4-Autopilot/blob/fixes/src/modules/local_position_estimator/BlockLocalPositionEstimator.hpp#L136

enum {Y_sonar_z = 0, n_y_sonar};

The problem was not raised before on CI because it runs on debian focal px4-dev-simulation-focal, where gcc version is 9. I'm currently using 13.1.1 20230429