fix(drvers/ins): Fix sbgECom clang-tidy errors

src/drivers/ins/sbgecom/CMakeLists.txt

@@ -40,6 +40,17 @@ add_subdirectory(sbgECom)
 
 add_dependencies(sbgECom prebuild_targets)
 
+# Vendor tree warning relaxations.
+#
+# sbgECom is a third-party submodule (PX4/sbgECom) we do not own.
+# These -Wno-* flags are scoped PRIVATE to the sbgECom target so they
+# apply only when compiling vendor .c files, not to the PX4 wrapper
+# (sbgecom.cpp/.hpp) which is built as a separate target via
+# px4_add_module() below and must remain under PX4's standard -Wall -Werror.
+#
+# If you add a flag here, it should address a warning emitted by vendor
+# code only. Warnings triggered in PX4-authored code must be fixed at
+# the source, not silenced here.
 target_compile_options(sbgECom
         PRIVATE
         -Wno-format
@@ -49,8 +60,15 @@ target_compile_options(sbgECom
         -Wno-type-limits
         -Wno-maybe-uninitialized
         -Wno-float-equal
+        -Wno-logical-op
 )
 
+# -Wno-typedef-redefinition is Clang-only. GCC rejects unrecognized
+# warning flags under -Werror, so guard this by compiler.
+if(CMAKE_C_COMPILER_ID MATCHES "Clang")
+     target_compile_options(sbgECom PRIVATE -Wno-typedef-redefinition)
+endif()
+
 if("${PX4_PLATFORM}" MATCHES "nuttx")
     target_compile_definitions(sbgECom PUBLIC __NUTTX__)
 endif()

src/drivers/ins/sbgecom/sbgecom.cpp

@@ -43,6 +43,7 @@
 #include <lib/drivers/device/Device.hpp>
 #include <px4_platform_common/getopt.h>
 
+#include <errno.h>
 #include <fcntl.h>
 #include <sys/stat.h>
 #include <termios.h>
@@ -323,9 +324,9 @@ void SbgEcom::handleLogEkfNav(const SbgEComLogUnion *ref_sbg_data, void *user_ar
 	const double longitude = ref_sbg_data->ekfNavData.position[1];
 	const double altitude = ref_sbg_data->ekfNavData.position[2];
 
-	const double north_velocity = ref_sbg_data->ekfNavData.velocity[0];
-	const double east_velocity = ref_sbg_data->ekfNavData.velocity[1];
-	const double down_velocity = ref_sbg_data->ekfNavData.velocity[2];
+	const double north_velocity = static_cast<double>(ref_sbg_data->ekfNavData.velocity[0]);
+	const double east_velocity = static_cast<double>(ref_sbg_data->ekfNavData.velocity[1]);
+	const double down_velocity = static_cast<double>(ref_sbg_data->ekfNavData.velocity[2]);
 
 	if (!instance->_pos_ref.isInitialized()) {
 		instance->_pos_ref.initReference(latitude, longitude, time_now_us);
@@ -457,7 +458,7 @@ void SbgEcom::handleLogGnssPosVelHdt(SbgEComMsgId msg, const SbgEComLogUnion *re
 		sensor_gps.latitude_deg = gnss_data->gps_pos.latitude;
 		sensor_gps.longitude_deg = gnss_data->gps_pos.longitude;
 		sensor_gps.altitude_msl_m = gnss_data->gps_pos.altitude;
-		sensor_gps.altitude_ellipsoid_m = gnss_data->gps_pos.undulation;
+		sensor_gps.altitude_ellipsoid_m = static_cast<double>(gnss_data->gps_pos.undulation);
 
 		sensor_gps.s_variance_m_s = sqrt(pow(gnss_data->gps_vel.velocityAcc[0], 2) +
 						 pow(gnss_data->gps_vel.velocityAcc[1], 2) +
@@ -831,18 +832,18 @@ void SbgEcom::send_config(SbgEComHandle *pHandle, const char *config)
 
 	sbgEComCmdApiReplyConstruct(&reply);
 
-	sbgEComCmdApiPost(pHandle, "/api/v1/settings", NULL, config, &reply);
+	sbgEComCmdApiPost(pHandle, "/api/v1/settings", nullptr, config, &reply);
 
 	if (!sbgEComCmdApiReplySuccessful(&reply)) {
 		PX4_ERR("Fail to apply SBG configuration: %s", reply.pContent);
 
 	} else {
-		bool need_reboot = (strstr(reply.pContent, NEED_REBOOT_STR) != NULL);
-		sbgEComCmdApiPost(pHandle, "/api/v1/settings/save", NULL, NULL, &reply);
+		bool need_reboot = (strstr(reply.pContent, NEED_REBOOT_STR) != nullptr);
+		sbgEComCmdApiPost(pHandle, "/api/v1/settings/save", nullptr, nullptr, &reply);
 
 		if (need_reboot) {
 			PX4_INFO("Reboot SBG device");
-			sbgEComCmdApiPost(pHandle, "/api/v1/system/reboot", NULL, NULL, &reply);
+			sbgEComCmdApiPost(pHandle, "/api/v1/system/reboot", nullptr, nullptr, &reply);
 		}
 	}
 
@@ -852,7 +853,7 @@ void SbgEcom::send_config(SbgEComHandle *pHandle, const char *config)
 void SbgEcom::send_config_file(SbgEComHandle *pHandle, const char *file_path)
 {
 	int fd;
-	char *body = NULL;
+	char *body = nullptr;
 	struct stat s;
 
 	assert(pHandle);
@@ -869,12 +870,21 @@ void SbgEcom::send_config_file(SbgEComHandle *pHandle, const char *file_path)
 	body = (char *)malloc(s.st_size + 1);
 
 	if (!body) {
-		PX4_ERR("Failed to allocate memory (%ld) - %s", s.st_size + 1, strerror(get_errno()));
+		PX4_ERR("Failed to allocate memory (%lld) - %s",
+			static_cast<long long>(s.st_size + 1),
+			strerror(errno));
+		close(fd);
+		return;
+	}
+
+	ssize_t ret = read(fd, body, s.st_size);
+
+	if (ret < 0) {
+		PX4_ERR("Read failed: %s", strerror(errno));
 		close(fd);
 		return;
 	}
 
-	read(fd, body, s.st_size);
 	body[s.st_size] = '\0';
 
 	send_config(pHandle, body);
@@ -896,7 +906,9 @@ int SbgEcom::init()
 	error_code = sbgInterfaceSerialCreate(&_sbg_interface, _device_name, _baudrate);
 
 	if (error_code == SBG_NO_ERROR) {
-		PX4_INFO("Serial interface created successfully on port: %s, baudrate: %ld", _device_name, _baudrate);
+		PX4_INFO("Serial interface created successfully on port: %s, baudrate: %ld",
+			 _device_name,
+			 static_cast<long int>(_baudrate));
 	}
 
 	pSerialHandle = (int *)_sbg_interface.handle;

src/drivers/ins/sbgecom/sbgecom.hpp

@@ -218,7 +218,7 @@ private:
 	SbgErrorCode sendMagLog(SbgEComHandle *handle, SbgEcom *instance);
 
 	void set_device_id(uint32_t device_id);
-	uint32_t get_device_id(void);
+	uint32_t get_device_id();
 
 	// SBG interface and state variables
 	SbgInterface _sbg_interface;
@@ -241,7 +241,7 @@ private:
 	int init_result;
 
 	MapProjection _pos_ref{};
-	double _gps_alt_ref{NAN};
+	double _gps_alt_ref{static_cast<double>(NAN)};
 
 	struct GnssData {
 		bool pos_received = false;