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ekf2:Use inttypes and fix types

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This commit is contained in:
David Sidrane
2021-04-22 05:50:15 -07:00
committed by Julian Oes
parent ed474794cc
commit 9a423e222b
3 changed files with 13 additions and 13 deletions
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18
src/modules/ekf2/EKF2.cpp
View File

@@ -1562,14 +1562,14 @@ void EKF2::UpdateMagSample(ekf2_timestamps_s &ekf2_timestamps)
// check if magnetometer has changed // check if magnetometer has changed
if (magnetometer.device_id != _device_id_mag) { if (magnetometer.device_id != _device_id_mag) {
if (_device_id_mag != 0) { if (_device_id_mag != 0) {
PX4_WARN("%d - mag sensor ID changed %d -> %d", _instance, _device_id_mag, magnetometer.device_id); PX4_WARN("%d - mag sensor ID changed %" PRIu32 " -> %" PRIu32, _instance, _device_id_mag, magnetometer.device_id);
} }
reset = true; reset = true;
} else if (magnetometer.calibration_count > _mag_calibration_count) { } else if (magnetometer.calibration_count > _mag_calibration_count) {
// existing calibration has changed, reset saved mag bias // existing calibration has changed, reset saved mag bias
PX4_DEBUG("%d - mag %d calibration updated, resetting bias", _instance, _device_id_mag); PX4_DEBUG("%d - mag %" PRIu32 " calibration updated, resetting bias", _instance, _device_id_mag);
reset = true; reset = true;
} }
@@ -1732,8 +1732,8 @@ int EKF2::task_spawn(int argc, char *argv[])
param_get(param_find("EKF2_MULTI_IMU"), &imu_instances); param_get(param_find("EKF2_MULTI_IMU"), &imu_instances);
if (imu_instances < 1 || imu_instances > 4) { if (imu_instances < 1 || imu_instances > 4) {
const int32_t imu_instances_limited = math::constrain(imu_instances, 1, 4); const int32_t imu_instances_limited = math::constrain(imu_instances, static_cast<int32_t>(1), static_cast<int32_t>(4));
PX4_WARN("EKF2_MULTI_IMU limited %d -> %d", imu_instances, imu_instances_limited); PX4_WARN("EKF2_MULTI_IMU limited %" PRId32 " -> %" PRId32, imu_instances, imu_instances_limited);
param_set_no_notification(param_find("EKF2_MULTI_IMU"), &imu_instances_limited); param_set_no_notification(param_find("EKF2_MULTI_IMU"), &imu_instances_limited);
imu_instances = imu_instances_limited; imu_instances = imu_instances_limited;
} }
@@ -1746,8 +1746,8 @@ int EKF2::task_spawn(int argc, char *argv[])
// Mags (1 - 4 supported) // Mags (1 - 4 supported)
if (mag_instances < 1 || mag_instances > 4) { if (mag_instances < 1 || mag_instances > 4) {
const int32_t mag_instances_limited = math::constrain(mag_instances, 1, 4); const int32_t mag_instances_limited = math::constrain(mag_instances, static_cast<int32_t>(1), static_cast<int32_t>(4));
PX4_WARN("EKF2_MULTI_MAG limited %d -> %d", mag_instances, mag_instances_limited); PX4_WARN("EKF2_MULTI_MAG limited %" PRId32 " -> %" PRId32, mag_instances, mag_instances_limited);
param_set_no_notification(param_find("EKF2_MULTI_MAG"), &mag_instances_limited); param_set_no_notification(param_find("EKF2_MULTI_MAG"), &mag_instances_limited);
mag_instances = mag_instances_limited; mag_instances = mag_instances_limited;
} }
@@ -1772,7 +1772,7 @@ int EKF2::task_spawn(int argc, char *argv[])
} }
const hrt_abstime time_started = hrt_absolute_time(); const hrt_abstime time_started = hrt_absolute_time();
const int multi_instances = math::min(imu_instances * mag_instances, (int)EKF2_MAX_INSTANCES); const int multi_instances = math::min(imu_instances * mag_instances, static_cast<int32_t>(EKF2_MAX_INSTANCES));
int multi_instances_allocated = 0; int multi_instances_allocated = 0;
// allocate EKF2 instances until all found or arming // allocate EKF2 instances until all found or arming
@@ -1817,7 +1817,7 @@ int EKF2::task_spawn(int argc, char *argv[])
_ekf2_selector.load()->ScheduleNow(); _ekf2_selector.load()->ScheduleNow();
} }
PX4_INFO("starting instance %d, IMU:%d (%d), MAG:%d (%d)", actual_instance, PX4_INFO("starting instance %d, IMU:%" PRIu8 " (%" PRIu32 "), MAG:%" PRIu8 " (%" PRIu32 ")", actual_instance,
imu, vehicle_imu_sub.get().accel_device_id, imu, vehicle_imu_sub.get().accel_device_id,
mag, vehicle_mag_sub.get().device_id); mag, vehicle_mag_sub.get().device_id);
@@ -1831,7 +1831,7 @@ int EKF2::task_spawn(int argc, char *argv[])
} }
} else { } else {
PX4_ERR("alloc and init failed imu: %d mag:%d", imu, mag); PX4_ERR("alloc and init failed imu: %" PRIu8 " mag:%" PRIu8, imu, mag);
px4_usleep(1000000); px4_usleep(1000000);
break; break;
} }

2
src/modules/ekf2/EKF2.hpp
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@@ -1,6 +1,6 @@
/**************************************************************************** /****************************************************************************
* *
* Copyright (c) 2015-2020 PX4 Development Team. All rights reserved. * Copyright (c) 2015-2021 PX4 Development Team. All rights reserved.
* *
* Redistribution and use in source and binary forms, with or without * Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions * modification, are permitted provided that the following conditions

6
src/modules/ekf2/EKF2Selector.cpp
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@@ -102,7 +102,7 @@ void EKF2Selector::PrintInstanceChange(const uint8_t old_instance, uint8_t new_i
new_reason = ""; new_reason = "";
} }
PX4_WARN("primary EKF changed %d%s -> %d%s", old_instance, old_reason, new_instance, new_reason); PX4_WARN("primary EKF changed %" PRIu8 "%s -> %" PRIu8 "%s", old_instance, old_reason, new_instance, new_reason);
} }
} }
@@ -809,7 +809,7 @@ void EKF2Selector::PublishEstimatorSelectorStatus()
void EKF2Selector::PrintStatus() void EKF2Selector::PrintStatus()
{ {
PX4_INFO("available instances: %d", _available_instances); PX4_INFO("available instances: %" PRIu8, _available_instances);
if (_selected_instance == INVALID_INSTANCE) { if (_selected_instance == INVALID_INSTANCE) {
PX4_WARN("selected instance: None"); PX4_WARN("selected instance: None");
@@ -818,7 +818,7 @@ void EKF2Selector::PrintStatus()
for (int i = 0; i < _available_instances; i++) { for (int i = 0; i < _available_instances; i++) {
const EstimatorInstance &inst = _instance[i]; const EstimatorInstance &inst = _instance[i];
PX4_INFO("%d: ACC: %d, GYRO: %d, MAG: %d, %s, test ratio: %.7f (%.5f) %s", PX4_INFO("%" PRIu8 ": ACC: %" PRIu32 ", GYRO: %" PRIu32 ", MAG: %" PRIu32 ", %s, test ratio: %.7f (%.5f) %s",
inst.instance, inst.accel_device_id, inst.gyro_device_id, inst.mag_device_id, inst.instance, inst.accel_device_id, inst.gyro_device_id, inst.mag_device_id,
inst.healthy ? "healthy" : "unhealthy", inst.healthy ? "healthy" : "unhealthy",
(double)inst.combined_test_ratio, (double)inst.relative_test_ratio, (double)inst.combined_test_ratio, (double)inst.relative_test_ratio,