ERROR macro: get rid of the many 'oddly, ERROR is not defined for c++', use PX4_ERROR

src/drivers/airspeed/airspeed.cpp

@@ -124,7 +124,7 @@ Airspeed::~Airspeed()
 int
 Airspeed::init()
 {
-	int ret = ERROR;
+	int ret = PX4_ERROR;
 
 	/* do I2C init (and probe) first */
 	if (I2C::init() != OK) {

src/drivers/airspeed/airspeed.h

@@ -39,6 +39,7 @@
  */
 
 #include <px4_config.h>
+#include <px4_defines.h>
 
 #include <drivers/device/i2c.h>
 
@@ -82,12 +83,6 @@
 /* Default I2C bus */
 #define PX4_I2C_BUS_DEFAULT		PX4_I2C_BUS_EXPANSION
 
-/* Oddly, ERROR is not defined for C++ */
-#ifdef ERROR
-# undef ERROR
-#endif
-static const int ERROR = -1;
-
 #ifndef CONFIG_SCHED_WORKQUEUE
 # error This requires CONFIG_SCHED_WORKQUEUE.
 #endif

src/drivers/bma180/bma180.cpp

@@ -37,6 +37,7 @@
  */
 
 #include <px4_config.h>
+#include <px4_defines.h>
 
 #include <sys/types.h>
 #include <stdint.h>
@@ -68,12 +69,6 @@
 #define ACCEL_DEVICE_PATH	"/dev/bma180"
 
 
-/* oddly, ERROR is not defined for c++ */
-#ifdef ERROR
-# undef ERROR
-#endif
-static const int ERROR = -1;
-
 #define DIR_READ			(1<<7)
 #define DIR_WRITE			(0<<7)
 
@@ -275,7 +270,7 @@ BMA180::~BMA180()
 int
 BMA180::init()
 {
-	int ret = ERROR;
+	int ret = PX4_ERROR;
 
 	/* do SPI init (and probe) first */
 	if (SPI::init() != OK) {
@@ -321,7 +316,7 @@ BMA180::init()
 		ret = OK;
 
 	} else {
-		ret = ERROR;
+		ret = PX4_ERROR;
 	}
 
 	_class_instance = register_class_devname(ACCEL_DEVICE_PATH);

src/drivers/ets_airspeed/ets_airspeed.cpp

@@ -265,12 +265,6 @@ ETSAirspeed::cycle()
 namespace ets_airspeed
 {
 
-/* oddly, ERROR is not defined for c++ */
-#ifdef ERROR
-# undef ERROR
-#endif
-const int ERROR = -1;
-
 ETSAirspeed	*g_dev;
 
 void	start(int i2c_bus);

src/drivers/hc_sr04/hc_sr04.cpp

@@ -40,6 +40,7 @@
 #include <nuttx/config.h>
 
 #include <drivers/device/device.h>
+#include <px4_defines.h>
 
 #include <sys/types.h>
 #include <stdint.h>
@@ -88,12 +89,6 @@
 #define SR04_CONVERSION_INTERVAL 	100000 /* 100ms for one sonar */
 
 
-/* oddly, ERROR is not defined for c++ */
-#ifdef ERROR
-# undef ERROR
-#endif
-static const int ERROR = -1;
-
 #ifndef CONFIG_SCHED_WORKQUEUE
 # error This requires CONFIG_SCHED_WORKQUEUE.
 #endif
@@ -269,18 +264,18 @@ HC_SR04::~HC_SR04()
 int
 HC_SR04::init()
 {
-	int ret = ERROR;
+	int ret = PX4_ERROR;
 
 	/* do I2C init (and probe) first */
 	if (CDev::init() != OK) {
-		return ERROR;
+		return PX4_ERROR;
 	}
 
 	/* allocate basic report buffers */
 	_reports = new ringbuffer::RingBuffer(2, sizeof(distance_sensor_s));
 
 	if (_reports == nullptr) {
-		return ERROR;
+		return PX4_ERROR;
 	}
 
 	_class_instance = register_class_devname(RANGE_FINDER_BASE_DEVICE_PATH);
@@ -739,12 +734,6 @@ HC_SR04::print_info()
 namespace  hc_sr04
 {
 
-/* oddly, ERROR is not defined for c++ */
-#ifdef ERROR
-# undef ERROR
-#endif
-const int ERROR = -1;
-
 HC_SR04	*g_dev;
 
 void	start();

src/drivers/hmc5883/hmc5883.cpp

@@ -38,6 +38,7 @@
  */
 
 #include <px4_config.h>
+#include <px4_defines.h>
 
 #include <drivers/device/i2c.h>
 
@@ -123,12 +124,6 @@ enum HMC5883_BUS {
 	HMC5883_BUS_SPI
 };
 
-/* oddly, ERROR is not defined for c++ */
-#ifdef ERROR
-# undef ERROR
-#endif
-static const int ERROR = -1;
-
 #ifndef CONFIG_SCHED_WORKQUEUE
 # error This requires CONFIG_SCHED_WORKQUEUE.
 #endif
@@ -416,7 +411,7 @@ HMC5883::~HMC5883()
 int
 HMC5883::init()
 {
-	int ret = ERROR;
+	int ret = PX4_ERROR;
 
 	ret = CDev::init();
 
@@ -1236,7 +1231,7 @@ out:
 		if (check_scale()) {
 			/* failed */
 			warnx("FAILED: SCALE");
-			ret = ERROR;
+			ret = PX4_ERROR;
 		}
 
 	}
@@ -1439,12 +1434,6 @@ HMC5883::print_info()
 namespace hmc5883
 {
 
-/* oddly, ERROR is not defined for c++ */
-#ifdef ERROR
-# undef ERROR
-#endif
-const int ERROR = -1;
-
 /*
   list of supported bus configurations
  */

src/drivers/hott/hott_sensors/hott_sensors.cpp

@@ -43,6 +43,7 @@
 
 #include <fcntl.h>
 #include <px4_config.h>
+#include <px4_defines.h>
 #include <poll.h>
 #include <stdlib.h>
 #include <stdio.h>
@@ -57,12 +58,6 @@
 
 #define DEFAULT_UART "/dev/ttyS0";		/**< USART1 */
 
-/* Oddly, ERROR is not defined for C++ */
-#ifdef ERROR
-# undef ERROR
-#endif
-static const int ERROR = -1;
-
 static int thread_should_exit = false;		/**< Deamon exit flag */
 static int thread_running = false;		/**< Deamon status flag */
 static int deamon_task;				/**< Handle of deamon task / thread */
@@ -133,7 +128,7 @@ recv_data(int uart, uint8_t *buffer, size_t *size, uint8_t *id)
 		}
 	}
 
-	return ERROR;
+	return PX4_ERROR;
 }
 
 int

src/drivers/hott/hott_telemetry/hott_telemetry.cpp

@@ -45,6 +45,7 @@
 
 #include <fcntl.h>
 #include <px4_config.h>
+#include <px4_defines.h>
 #include <poll.h>
 #include <stdlib.h>
 #include <stdio.h>
@@ -60,12 +61,6 @@
 
 #define DEFAULT_UART "/dev/ttyS6";		/**< Serial4 */
 
-/* Oddly, ERROR is not defined for C++ */
-#ifdef ERROR
-# undef ERROR
-#endif
-static const int ERROR = -1;
-
 static int thread_should_exit = false;		/**< Deamon exit flag */
 static int thread_running = false;		/**< Deamon status flag */
 static int deamon_task;				/**< Handle of deamon task / thread */
@@ -124,7 +119,7 @@ recv_req_id(int uart, uint8_t *id)
 
 		/* if we have a binary mode request */
 		if (mode != BINARY_MODE_REQUEST_ID) {
-			return ERROR;
+			return PX4_ERROR;
 		}
 
 		/* Read the device ID being polled */
@@ -132,10 +127,10 @@ recv_req_id(int uart, uint8_t *id)
 
 	} else {
 		warnx("UART timeout on TX/RX port");
-		return ERROR;
+		return PX4_ERROR;
 	}
 
-	return OK;
+	return PX4_OK;
 }
 
 int
@@ -165,7 +160,7 @@ send_data(int uart, uint8_t *buffer, size_t size)
 	uint8_t dummy[size];
 	read(uart, &dummy, size);
 
-	return OK;
+	return PX4_OK;
 }
 
 int
@@ -217,10 +212,9 @@ hott_telemetry_thread_main(int argc, char *argv[])
 
 	while (!thread_should_exit) {
 		// Listen for and serve poll from the receiver.
-		if (recv_req_id(uart, &id) == OK) {
+		if (recv_req_id(uart, &id) == PX4_OK) {
 			if (!connected) {
 				connected = true;
-				warnx("OK");
 			}
 
 			switch (id) {

src/drivers/l3gd20/l3gd20.cpp

@@ -40,6 +40,7 @@
  */
 
 #include <px4_config.h>
+#include <px4_defines.h>
 
 #include <sys/types.h>
 #include <stdint.h>
@@ -74,12 +75,6 @@
 
 #define L3GD20_DEVICE_PATH "/dev/l3gd20"
 
-/* oddly, ERROR is not defined for c++ */
-#ifdef ERROR
-# undef ERROR
-#endif
-static const int ERROR = -1;
-
 /* Orientation on board */
 #define SENSOR_BOARD_ROTATION_000_DEG	0
 #define SENSOR_BOARD_ROTATION_090_DEG	1
@@ -476,7 +471,7 @@ L3GD20::~L3GD20()
 int
 L3GD20::init()
 {
-	int ret = ERROR;
+	int ret = PX4_ERROR;
 
 	/* do SPI init (and probe) first */
 	if (SPI::init() != OK) {

src/drivers/lis3mdl/lis3mdl.cpp

@@ -40,6 +40,7 @@
  */
 
 #include <px4_config.h>
+#include <px4_defines.h>
 
 #include <drivers/device/i2c.h>
 
@@ -115,12 +116,6 @@ enum LIS3MDL_BUS {
 	LIS3MDL_BUS_SPI
 };
 
-/* oddly, ERROR is not defined for c++ */
-#ifdef ERROR
-# undef ERROR
-#endif
-static const int ERROR = -1;
-
 #ifndef CONFIG_SCHED_WORKQUEUE
 # error This requires CONFIG_SCHED_WORKQUEUE.
 #endif
@@ -406,7 +401,7 @@ LIS3MDL::~LIS3MDL()
 int
 LIS3MDL::init()
 {
-	int ret = ERROR;
+	int ret = PX4_ERROR;
 
 	ret = CDev::init();
 
@@ -1179,7 +1174,7 @@ out:
 		if (check_scale()) {
 			/* failed */
 			warnx("FAILED: SCALE");
-			ret = ERROR;
+			ret = PX4_ERROR;
 		}
 
 	}
@@ -1325,12 +1320,6 @@ LIS3MDL::print_info()
 namespace lis3mdl
 {
 
-/* oddly, ERROR is not defined for c++ */
-#ifdef ERROR
-# undef ERROR
-#endif
-const int ERROR = -1;
-
 /*
   list of supported bus configurations
  */

src/drivers/ll40ls/LidarLiteI2C.cpp

@@ -40,6 +40,7 @@
  */
 
 #include "LidarLiteI2C.h"
+#include <px4_defines.h>
 #include <semaphore.h>
 #include <fcntl.h>
 #include <errno.h>
@@ -48,12 +49,6 @@
 #include <stdio.h>
 #include <drivers/drv_hrt.h>
 
-/* oddly, ERROR is not defined for c++ */
-#ifdef ERROR
-# undef ERROR
-#endif
-static const int ERROR = -1;
-
 LidarLiteI2C::LidarLiteI2C(int bus, const char *path, int address) :
 	I2C("LL40LS", path, bus, address, 100000),
 	_work{},
@@ -110,7 +105,7 @@ LidarLiteI2C::~LidarLiteI2C()
 
 int LidarLiteI2C::init()
 {
-	int ret = ERROR;
+	int ret = PX4_ERROR;
 
 	/* do I2C init (and probe) first */
 	if (I2C::init() != OK) {

src/drivers/ll40ls/LidarLitePWM.cpp

@@ -45,14 +45,10 @@
 #include "LidarLitePWM.h"
 #include <stdio.h>
 #include <string.h>
+#include <px4_defines.h>
 #include <drivers/drv_hrt.h>
 #include <drivers/drv_pwm_input.h>
 
-/* oddly, ERROR is not defined for c++ */
-#ifdef __cplusplus
-static const int ERROR = -1;
-#endif
-
 LidarLitePWM::LidarLitePWM(const char *path) :
 	CDev("LidarLitePWM", path),
 	_work{},
@@ -95,15 +91,15 @@ int LidarLitePWM::init()
 	/* do regular cdev init */
 	int ret = CDev::init();
 
-	if (ret != OK) {
+	if (ret != PX4_OK) {
-		return ERROR;
+		return PX4_ERROR;
 	}
 
 	/* allocate basic report buffers */
 	_reports = new ringbuffer::RingBuffer(2, sizeof(struct distance_sensor_s));
 
 	if (_reports == nullptr) {
-		return ERROR;
+		return PX4_ERROR;
 	}
 
 	_class_instance = register_class_devname(RANGE_FINDER_BASE_DEVICE_PATH);
@@ -119,7 +115,7 @@ int LidarLitePWM::init()
 		DEVICE_DEBUG("failed to create distance_sensor object. Did you start uOrb?");
 	}
 
-	return OK;
+	return PX4_OK;
 }
 
 void LidarLitePWM::print_info()
@@ -172,11 +168,11 @@ int LidarLitePWM::measure()
 {
 	perf_begin(_sample_perf);
 
-	if (OK != collect()) {
+	if (PX4_OK != collect()) {
 		DEVICE_DEBUG("collection error");
 		perf_count(_read_errors);
 		perf_end(_sample_perf);
-		return ERROR;
+		return PX4_ERROR;
 	}
 
 	_range.timestamp = hrt_absolute_time();
@@ -206,7 +202,7 @@ int LidarLitePWM::measure()
 
 	poll_notify(POLLIN);
 	perf_end(_sample_perf);
-	return OK;
+	return PX4_OK;
 }
 
 ssize_t LidarLitePWM::read(struct file *filp, char *buffer, size_t buflen)
@@ -266,12 +262,12 @@ int LidarLitePWM::collect()
 	int fd = ::open(PWMIN0_DEVICE_PATH, O_RDONLY);
 
 	if (fd == -1) {
-		return ERROR;
+		return PX4_ERROR;
 	}
 
 	if (::read(fd, &_pwm, sizeof(_pwm)) == sizeof(_pwm)) {
 		::close(fd);
-		return OK;
+		return PX4_OK;
 	}
 
 	::close(fd);
@@ -284,7 +280,7 @@ int LidarLitePWM::reset_sensor()
 	int fd = ::open(PWMIN0_DEVICE_PATH, O_RDONLY);
 
 	if (fd == -1) {
-		return ERROR;
+		return PX4_ERROR;
 	}
 
 	int ret = ::ioctl(fd, SENSORIOCRESET, 0);

src/drivers/ll40ls/ll40ls.cpp

@@ -70,12 +70,6 @@ extern "C" __EXPORT int ll40ls_main(int argc, char *argv[]);
 namespace ll40ls
 {
 
-/* oddly, ERROR is not defined for c++ */
-#ifdef ERROR
-# undef ERROR
-#endif
-const int ERROR = -1;
-
 LidarLiteI2C	*g_dev_int;
 LidarLiteI2C	*g_dev_ext;
 LidarLitePWM	*g_dev_pwm;
@@ -132,7 +126,7 @@ void start(const bool use_i2c, const int bus)
 
 			g_dev_ext = new LidarLiteI2C(PX4_I2C_BUS_EXPANSION, LL40LS_DEVICE_PATH_EXT);
 
-			if (g_dev_ext != nullptr && OK != g_dev_ext->init()) {
+			if (g_dev_ext != nullptr && PX4_OK != g_dev_ext->init()) {
 				delete g_dev_ext;
 				g_dev_ext = nullptr;
 
@@ -152,7 +146,7 @@ void start(const bool use_i2c, const int bus)
 
 			g_dev_int = new LidarLiteI2C(PX4_I2C_BUS_ONBOARD, LL40LS_DEVICE_PATH_INT);
 
-			if (g_dev_int != nullptr && OK != g_dev_int->init()) {
+			if (g_dev_int != nullptr && PX4_OK != g_dev_int->init()) {
 				/* tear down the failing onboard instance */
 				delete g_dev_int;
 				g_dev_int = nullptr;
@@ -203,7 +197,7 @@ void start(const bool use_i2c, const int bus)
 	} else {
 		g_dev_pwm = new LidarLitePWM(LL40LS_DEVICE_PATH_PWM);
 
-		if (g_dev_pwm != nullptr && OK != g_dev_pwm->init()) {
+		if (g_dev_pwm != nullptr && PX4_OK != g_dev_pwm->init()) {
 			delete g_dev_pwm;
 			g_dev_pwm = nullptr;
 			warnx("failed to init PWM");
@@ -321,7 +315,7 @@ test(const bool use_i2c, const int bus)
 	warnx("time:        %lld", report.timestamp);
 
 	/* start the sensor polling at 2Hz */
-	if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2)) {
+	if (PX4_OK != ioctl(fd, SENSORIOCSPOLLRATE, 2)) {
 		errx(1, "failed to set 2Hz poll rate");
 	}
 
@@ -353,7 +347,7 @@ test(const bool use_i2c, const int bus)
 	}
 
 	/* reset the sensor polling to default rate */
-	if (OK != ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT)) {
+	if (PX4_OK != ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT)) {
 		errx(1, "failed to set default poll rate");
 	}
 

src/drivers/lps25h/lps25h.cpp

@@ -187,12 +187,6 @@ enum LPS25H_BUS {
 	LPS25H_BUS_SPI
 };
 
-/* oddly, ERROR is not defined for c++ */
-#ifdef ERROR
-# undef ERROR
-#endif
-static const int ERROR = -1;
-
 #ifndef CONFIG_SCHED_WORKQUEUE
 # error This requires CONFIG_SCHED_WORKQUEUE.
 #endif
@@ -818,12 +812,6 @@ LPS25H::print_info()
 namespace lps25h
 {
 
-/* oddly, ERROR is not defined for c++ */
-#ifdef ERROR
-# undef ERROR
-#endif
-const int ERROR = -1;
-
 /*
   list of supported bus configurations
  */

src/drivers/lsm303d/lsm303d.cpp

@@ -37,6 +37,7 @@
  */
 
 #include <px4_config.h>
+#include <px4_defines.h>
 
 #include <sys/types.h>
 #include <sys/stat.h>
@@ -71,12 +72,6 @@
 #include <mathlib/math/filter/LowPassFilter2p.hpp>
 #include <lib/conversion/rotation.h>
 
-/* oddly, ERROR is not defined for c++ */
-#ifdef ERROR
-# undef ERROR
-#endif
-static const int ERROR = -1;
-
 /* SPI protocol address bits */
 #define DIR_READ				(1<<7)
 #define DIR_WRITE				(0<<7)
@@ -647,7 +642,7 @@ LSM303D::~LSM303D()
 int
 LSM303D::init()
 {
-	int ret = ERROR;
+	int ret = PX4_ERROR;
 
 	/* do SPI init (and probe) first */
 	if (SPI::init() != OK) {
@@ -2060,7 +2055,7 @@ test()
 
 	warnx("accel range: %8.4f m/s^2", (double)accel_report.range_m_s2);
 
-	if (ERROR == (ret = ioctl(fd_accel, ACCELIOCGLOWPASS, 0))) {
+	if (PX4_ERROR == (ret = ioctl(fd_accel, ACCELIOCGLOWPASS, 0))) {
 		warnx("accel antialias filter bandwidth: fail");
 
 	} else {

src/drivers/mb12xx/mb12xx.cpp

@@ -92,13 +92,6 @@
 #define MB12XX_CONVERSION_INTERVAL 	100000 /* 60ms for one sonar */
 #define TICKS_BETWEEN_SUCCESIVE_FIRES 	100000 /* 30ms between each sonar measurement (watch out for interference!) */
 
-
-/* oddly, ERROR is not defined for c++ */
-#ifdef ERROR
-# undef ERROR
-#endif
-static const int ERROR = -1;
-
 #ifndef CONFIG_SCHED_WORKQUEUE
 # error This requires CONFIG_SCHED_WORKQUEUE.
 #endif
@@ -251,7 +244,7 @@ MB12XX::~MB12XX()
 int
 MB12XX::init()
 {
-	int ret = ERROR;
+	int ret = PX4_ERROR;
 
 	/* do I2C init (and probe) first */
 	if (I2C::init() != OK) {
@@ -729,12 +722,6 @@ MB12XX::print_info()
 namespace mb12xx
 {
 
-/* oddly, ERROR is not defined for c++ */
-#ifdef ERROR
-# undef ERROR
-#endif
-const int ERROR = -1;
-
 MB12XX	*g_dev;
 
 void	start();

src/drivers/meas_airspeed/meas_airspeed.cpp

@@ -399,12 +399,6 @@ MEASAirspeed::voltage_correction(float &diff_press_pa, float &temperature)
 namespace meas_airspeed
 {
 
-/* oddly, ERROR is not defined for c++ */
-#ifdef ERROR
-# undef ERROR
-#endif
-const int ERROR = -1;
-
 MEASAirspeed	*g_dev = nullptr;
 
 void	start(int i2c_bus);

src/drivers/ms5611/ms5611.cpp

@@ -83,12 +83,6 @@ enum MS5611_BUS {
 	MS5611_BUS_SPI_EXTERNAL
 };
 
-/* oddly, ERROR is not defined for c++ */
-#ifdef ERROR
-# undef ERROR
-#endif
-static const int ERROR = -1;
-
 #ifndef CONFIG_SCHED_WORKQUEUE
 # error This requires CONFIG_SCHED_WORKQUEUE.
 #endif

src/drivers/pca9685/pca9685.cpp

@@ -47,6 +47,7 @@
  */
 
 #include <px4_config.h>
+#include <px4_defines.h>
 
 #include <drivers/device/i2c.h>
 
@@ -108,12 +109,6 @@
 				     */
 #define PCA9685_SCALE ((PCA9685_PWMMAX - PCA9685_PWMCENTER)/(M_DEG_TO_RAD_F * PCA9685_MAXSERVODEG)) // scales from rad to PWM
 
-/* oddly, ERROR is not defined for c++ */
-#ifdef ERROR
-# undef ERROR
-#endif
-static const int ERROR = -1;
-
 class PCA9685 : public device::I2C
 {
 public:
@@ -421,7 +416,7 @@ PCA9685::setPin(uint8_t num, uint16_t val, bool invert)
 		}
 	}
 
-	return ERROR;
+	return PX4_ERROR;
 }
 
 int

src/drivers/px4flow/px4flow.cpp

@@ -40,6 +40,7 @@
  */
 
 #include <px4_config.h>
+#include <px4_defines.h>
 
 #include <drivers/device/i2c.h>
 
@@ -90,12 +91,6 @@
 #define PX4FLOW_MAX_DISTANCE 5.0f
 #define PX4FLOW_MIN_DISTANCE 0.3f
 
-/* oddly, ERROR is not defined for c++ */
-#ifdef ERROR
-# undef ERROR
-#endif
-static const int ERROR = -1;
-
 #ifndef CONFIG_SCHED_WORKQUEUE
 # error This requires CONFIG_SCHED_WORKQUEUE.
 #endif
@@ -226,7 +221,7 @@ PX4FLOW::~PX4FLOW()
 int
 PX4FLOW::init()
 {
-	int ret = ERROR;
+	int ret = PX4_ERROR;
 
 	/* do I2C init (and probe) first */
 	if (I2C::init() != OK) {
@@ -663,12 +658,6 @@ PX4FLOW::print_info()
 namespace px4flow
 {
 
-/* oddly, ERROR is not defined for c++ */
-#ifdef ERROR
-# undef ERROR
-#endif
-const int ERROR = -1;
-
 PX4FLOW	*g_dev = nullptr;
 bool start_in_progress = false;
 

src/drivers/sf0x/sf0x.cpp

@@ -77,12 +77,6 @@
 
 /* Configuration Constants */
 
-/* oddly, ERROR is not defined for c++ */
-#ifdef ERROR
-# undef ERROR
-#endif
-static const int ERROR = -1;
-
 #ifndef CONFIG_SCHED_WORKQUEUE
 # error This requires CONFIG_SCHED_WORKQUEUE.
 #endif
@@ -756,12 +750,6 @@ SF0X::print_info()
 namespace sf0x
 {
 
-/* oddly, ERROR is not defined for c++ */
-#ifdef ERROR
-# undef ERROR
-#endif
-const int ERROR = -1;
-
 SF0X	*g_dev;
 
 void	start(const char *port);

src/drivers/sf1xx/sf1xx.cpp

@@ -42,6 +42,7 @@
  */
 
 #include <px4_config.h>
+#include <px4_defines.h>
 
 #include <drivers/device/i2c.h>
 
@@ -81,12 +82,6 @@
 #define SF1XX_DEVICE_PATH	"/dev/sf1xx"
 
 
-/* oddly, ERROR is not defined for c++ */
-#ifdef ERROR
-# undef ERROR
-#endif
-static const int ERROR = -1;
-
 #ifndef CONFIG_SCHED_WORKQUEUE
 # error This requires CONFIG_SCHED_WORKQUEUE.
 #endif
@@ -234,7 +229,7 @@ SF1XX::~SF1XX()
 int
 SF1XX::init()
 {
-	int ret = ERROR;
+	int ret = PX4_ERROR;
 	int hw_model;
 	param_get(param_find("SENS_EN_SF1XX"), &hw_model);
 
@@ -653,12 +648,6 @@ SF1XX::print_info()
 namespace sf1xx
 {
 
-/* oddly, ERROR is not defined for c++ */
-#ifdef ERROR
-# undef ERROR
-#endif
-const int ERROR = -1;
-
 SF1XX	*g_dev;
 
 void	start();

src/drivers/srf02/srf02.cpp

@@ -38,6 +38,7 @@
  */
 
 #include <px4_config.h>
+#include <px4_defines.h>
 
 #include <drivers/device/i2c.h>
 
@@ -92,12 +93,6 @@
 #define TICKS_BETWEEN_SUCCESIVE_FIRES 	100000 /* 30ms between each sonar measurement (watch out for interference!) */
 
 
-/* oddly, ERROR is not defined for c++ */
-#ifdef ERROR
-# undef ERROR
-#endif
-static const int ERROR = -1;
-
 #ifndef CONFIG_SCHED_WORKQUEUE
 # error This requires CONFIG_SCHED_WORKQUEUE.
 #endif
@@ -250,7 +245,7 @@ SRF02::~SRF02()
 int
 SRF02::init()
 {
-	int ret = ERROR;
+	int ret = PX4_ERROR;
 
 	/* do I2C init (and probe) first */
 	if (I2C::init() != OK) {
@@ -731,12 +726,6 @@ SRF02::print_info()
 namespace srf02
 {
 
-/* oddly, ERROR is not defined for c++ */
-#ifdef ERROR
-# undef ERROR
-#endif
-const int ERROR = -1;
-
 SRF02	*g_dev;
 
 void	start();

src/drivers/srf02_i2c/srf02_i2c.cpp

@@ -40,6 +40,7 @@
  */
 
 #include <px4_config.h>
+#include <px4_defines.h>
 
 #include <drivers/device/i2c.h>
 
@@ -93,13 +94,6 @@
 #define SRF02_CONVERSION_INTERVAL 	100000 /* 60ms for one sonar */
 #define TICKS_BETWEEN_SUCCESIVE_FIRES 	100000 /* 30ms between each sonar measurement (watch out for interference!) */
 
-
-/* oddly, ERROR is not defined for c++ */
-#ifdef ERROR
-# undef ERROR
-#endif
-static const int ERROR = -1;
-
 #ifndef CONFIG_SCHED_WORKQUEUE
 # error This requires CONFIG_SCHED_WORKQUEUE.
 #endif
@@ -252,7 +246,7 @@ SRF02_I2C::~SRF02_I2C()
 int
 SRF02_I2C::init()
 {
-	int ret = ERROR;
+	int ret = PX4_ERROR;
 
 	/* do I2C init (and probe) first */
 	if (I2C::init() != OK) {
@@ -732,12 +726,6 @@ SRF02_I2C::print_info()
 namespace  srf02_i2c
 {
 
-/* oddly, ERROR is not defined for c++ */
-#ifdef ERROR
-# undef ERROR
-#endif
-const int ERROR = -1;
-
 SRF02_I2C	*g_dev;
 
 void	start();

src/drivers/trone/trone.cpp

@@ -39,6 +39,7 @@
  */
 
 #include <px4_config.h>
+#include <px4_defines.h>
 
 #include <drivers/device/i2c.h>
 
@@ -90,12 +91,6 @@
 
 #define TRONE_CONVERSION_INTERVAL 50000 /* 50ms */
 
-/* oddly, ERROR is not defined for c++ */
-#ifdef ERROR
-# undef ERROR
-#endif
-static const int ERROR = -1;
-
 #ifndef CONFIG_SCHED_WORKQUEUE
 # error This requires CONFIG_SCHED_WORKQUEUE.
 #endif
@@ -279,7 +274,7 @@ TRONE::~TRONE()
 int
 TRONE::init()
 {
-	int ret = ERROR;
+	int ret = PX4_ERROR;
 
 	/* do I2C init (and probe) first */
 	if (I2C::init() != OK) {
@@ -722,12 +717,6 @@ TRONE::print_info()
 namespace trone
 {
 
-/* oddly, ERROR is not defined for c++ */
-#ifdef ERROR
-# undef ERROR
-#endif
-const int ERROR = -1;
-
 TRONE	*g_dev;
 
 void	start();

src/examples/mc_att_control_multiplatform/mc_att_control.cpp

@@ -51,17 +51,6 @@
 #define MIN_TAKEOFF_THRUST    0.2f
 #define RATES_I_LIMIT	0.3f
 
-namespace mc_att_control
-{
-
-/* oddly, ERROR is not defined for c++ */
-#ifdef ERROR
-# undef ERROR
-#endif
-static const int ERROR = -1;
-
-}
-
 MulticopterAttitudeControlMultiplatform::MulticopterAttitudeControlMultiplatform() :
 	MulticopterAttitudeControlBase(),
 	_actuators_0_circuit_breaker_enabled(false),

src/modules/commander/accelerometer_calibration.cpp

@@ -127,13 +127,13 @@
 #include "calibration_routines.h"
 #include "commander_helper.h"
 
+#include <px4_defines.h>
 #include <px4_posix.h>
 #include <px4_time.h>
 #include <unistd.h>
 #include <stdio.h>
 #include <poll.h>
 #include <fcntl.h>
-//#include <sys/prctl.h>
 #include <math.h>
 #include <poll.h>
 #include <float.h>
@@ -148,12 +148,6 @@
 #include <systemlib/mavlink_log.h>
 #include <uORB/topics/vehicle_attitude.h>
 
-/* oddly, ERROR is not defined for c++ */
-#ifdef ERROR
-# undef ERROR
-#endif
-static const int ERROR = -1;
-
 static const char *sensor_name = "accel";
 
 static int32_t device_id[max_accel_sens];
@@ -189,7 +183,7 @@ int do_accel_calibration(orb_advert_t *mavlink_log_pub)
 	accel_scale.z_offset = 0.0f;
 	accel_scale.z_scale = 1.0f;
 
-	int res = OK;
+	int res = PX4_OK;
 
 	char str[30];
 
@@ -209,38 +203,38 @@ int do_accel_calibration(orb_advert_t *mavlink_log_pub)
 		res = px4_ioctl(fd, ACCELIOCSSCALE, (long unsigned int)&accel_scale);
 		px4_close(fd);
 
-		if (res != OK) {
+		if (res != PX4_OK) {
 			calibration_log_critical(mavlink_log_pub, CAL_ERROR_RESET_CAL_MSG, s);
 		}
 #else
 		(void)sprintf(str, "CAL_ACC%u_XOFF", s);
 		res = param_set(param_find(str), &accel_scale.x_offset);
-		if (res != OK) {
+		if (res != PX4_OK) {
 			PX4_ERR("unable to reset %s", str);
 		}
 		(void)sprintf(str, "CAL_ACC%u_YOFF", s);
 		res = param_set(param_find(str), &accel_scale.y_offset);
-		if (res != OK) {
+		if (res != PX4_OK) {
 			PX4_ERR("unable to reset %s", str);
 		}
 		(void)sprintf(str, "CAL_ACC%u_ZOFF", s);
 		res = param_set(param_find(str), &accel_scale.z_offset);
-		if (res != OK) {
+		if (res != PX4_OK) {
 			PX4_ERR("unable to reset %s", str);
 		}
 		(void)sprintf(str, "CAL_ACC%u_XSCALE", s);
 		res = param_set(param_find(str), &accel_scale.x_scale);
-		if (res != OK) {
+		if (res != PX4_OK) {
 			PX4_ERR("unable to reset %s", str);
 		}
 		(void)sprintf(str, "CAL_ACC%u_YSCALE", s);
 		res = param_set(param_find(str), &accel_scale.y_scale);
-		if (res != OK) {
+		if (res != PX4_OK) {
 			PX4_ERR("unable to reset %s", str);
 		}
 		(void)sprintf(str, "CAL_ACC%u_ZSCALE", s);
 		res = param_set(param_find(str), &accel_scale.z_scale);
-		if (res != OK) {
+		if (res != PX4_OK) {
 			PX4_ERR("unable to reset %s", str);
 		}
 #endif
@@ -251,23 +245,23 @@ int do_accel_calibration(orb_advert_t *mavlink_log_pub)
 	unsigned active_sensors;
 
 	/* measure and calculate offsets & scales */
-	if (res == OK) {
+	if (res == PX4_OK) {
 		calibrate_return cal_return = do_accel_calibration_measurements(mavlink_log_pub, accel_offs, accel_T, &active_sensors);
 		if (cal_return == calibrate_return_cancelled) {
 			// Cancel message already displayed, nothing left to do
-			return ERROR;
+			return PX4_ERROR;
 		} else if (cal_return == calibrate_return_ok) {
-			res = OK;
+			res = PX4_OK;
 		} else {
-			res = ERROR;
+			res = PX4_ERROR;
 		}
 	}
 
-	if (res != OK) {
+	if (res != PX4_OK) {
 		if (active_sensors == 0) {
 			calibration_log_critical(mavlink_log_pub, CAL_ERROR_SENSOR_MSG);
 		}
-		return ERROR;
+		return PX4_ERROR;
 	}
 
 	/* measurements completed successfully, rotate calibration values */
@@ -296,7 +290,7 @@ int do_accel_calibration(orb_advert_t *mavlink_log_pub)
 
 		bool failed = false;
 
-		failed = failed || (OK != param_set_no_notification(param_find("CAL_ACC_PRIME"), &(device_id_primary)));
+		failed = failed || (PX4_OK != param_set_no_notification(param_find("CAL_ACC_PRIME"), &(device_id_primary)));
 
 
 		PX4_DEBUG("found offset %d: x: %.6f, y: %.6f, z: %.6f", i,
@@ -310,23 +304,23 @@ int do_accel_calibration(orb_advert_t *mavlink_log_pub)
 
 		/* set parameters */
 		(void)sprintf(str, "CAL_ACC%u_XOFF", i);
-		failed |= (OK != param_set_no_notification(param_find(str), &(accel_scale.x_offset)));
+		failed |= (PX4_OK != param_set_no_notification(param_find(str), &(accel_scale.x_offset)));
 		(void)sprintf(str, "CAL_ACC%u_YOFF", i);
-		failed |= (OK != param_set_no_notification(param_find(str), &(accel_scale.y_offset)));
+		failed |= (PX4_OK != param_set_no_notification(param_find(str), &(accel_scale.y_offset)));
 		(void)sprintf(str, "CAL_ACC%u_ZOFF", i);
-		failed |= (OK != param_set_no_notification(param_find(str), &(accel_scale.z_offset)));
+		failed |= (PX4_OK != param_set_no_notification(param_find(str), &(accel_scale.z_offset)));
 		(void)sprintf(str, "CAL_ACC%u_XSCALE", i);
-		failed |= (OK != param_set_no_notification(param_find(str), &(accel_scale.x_scale)));
+		failed |= (PX4_OK != param_set_no_notification(param_find(str), &(accel_scale.x_scale)));
 		(void)sprintf(str, "CAL_ACC%u_YSCALE", i);
-		failed |= (OK != param_set_no_notification(param_find(str), &(accel_scale.y_scale)));
+		failed |= (PX4_OK != param_set_no_notification(param_find(str), &(accel_scale.y_scale)));
 		(void)sprintf(str, "CAL_ACC%u_ZSCALE", i);
-		failed |= (OK != param_set_no_notification(param_find(str), &(accel_scale.z_scale)));
+		failed |= (PX4_OK != param_set_no_notification(param_find(str), &(accel_scale.z_scale)));
 		(void)sprintf(str, "CAL_ACC%u_ID", i);
-		failed |= (OK != param_set_no_notification(param_find(str), &(device_id[i])));
+		failed |= (PX4_OK != param_set_no_notification(param_find(str), &(device_id[i])));
 
 		if (failed) {
 			calibration_log_critical(mavlink_log_pub, CAL_ERROR_SET_PARAMS_MSG, i);
-			return ERROR;
+			return PX4_ERROR;
 		}
 
 #if !defined(__PX4_QURT) && !defined(__PX4_POSIX_EAGLE) && !defined(__PX4_POSIX_RPI) && !defined(__PX4_POSIX_BEBOP)
@@ -335,23 +329,23 @@ int do_accel_calibration(orb_advert_t *mavlink_log_pub)
 
 		if (fd < 0) {
 			calibration_log_critical(mavlink_log_pub, CAL_QGC_FAILED_MSG, "sensor does not exist");
-			res = ERROR;
+			res = PX4_ERROR;
 		} else {
 			res = px4_ioctl(fd, ACCELIOCSSCALE, (long unsigned int)&accel_scale);
 			px4_close(fd);
 		}
 
-		if (res != OK) {
+		if (res != PX4_OK) {
 			calibration_log_critical(mavlink_log_pub, CAL_ERROR_APPLY_CAL_MSG, i);
 		}
 #endif
 	}
 
-	if (res == OK) {
+	if (res == PX4_OK) {
 		/* auto-save to EEPROM */
 		res = param_save_default();
 
-		if (res != OK) {
+		if (res != PX4_OK) {
 			calibration_log_critical(mavlink_log_pub, CAL_ERROR_SAVE_PARAMS_MSG);
 		}
 
@@ -579,7 +573,7 @@ int mat_invert3(float src[3][3], float dst[3][3])
 		    src[0][2] * (src[1][0] * src[2][1] - src[1][1] * src[2][0]);
 
 	if (fabsf(det) < FLT_EPSILON) {
-		return ERROR;        // Singular matrix
+		return PX4_ERROR;        // Singular matrix
 	}
 
 	dst[0][0] = (src[1][1] * src[2][2] - src[1][2] * src[2][1]) / det;
@@ -592,7 +586,7 @@ int mat_invert3(float src[3][3], float dst[3][3])
 	dst[1][2] = (src[0][2] * src[1][0] - src[0][0] * src[1][2]) / det;
 	dst[2][2] = (src[0][0] * src[1][1] - src[0][1] * src[1][0]) / det;
 
-	return OK;
+	return PX4_OK;
 }
 
 calibrate_return calculate_calibration_values(unsigned sensor, float (&accel_ref)[max_accel_sens][detect_orientation_side_count][3], float (&accel_T)[max_accel_sens][3][3], float (&accel_offs)[max_accel_sens][3], float g)
@@ -616,7 +610,7 @@ calibrate_return calculate_calibration_values(unsigned sensor, float (&accel_ref
 	/* calculate inverse matrix for A */
 	float mat_A_inv[3][3];
 
-	if (mat_invert3(mat_A, mat_A_inv) != OK) {
+	if (mat_invert3(mat_A, mat_A_inv) != PX4_OK) {
 		return calibrate_return_error;
 	}
 

src/modules/commander/airspeed_calibration.cpp

@@ -41,6 +41,7 @@
 #include "calibration_routines.h"
 #include "commander_helper.h"
 
+#include <px4_defines.h>
 #include <px4_posix.h>
 #include <px4_time.h>
 #include <stdio.h>
@@ -56,12 +57,6 @@
 #include <systemlib/err.h>
 #include <systemlib/airspeed.h>
 
-/* oddly, ERROR is not defined for c++ */
-#ifdef ERROR
-# undef ERROR
-#endif
-static const int ERROR = -1;
-
 static const char *sensor_name = "dpress";
 
 static void feedback_calibration_failed(orb_advert_t *mavlink_log_pub)
@@ -72,7 +67,7 @@ static void feedback_calibration_failed(orb_advert_t *mavlink_log_pub)
 
 int do_airspeed_calibration(orb_advert_t *mavlink_log_pub)
 {
-	int result = OK;
+	int result = PX4_OK;
 	unsigned calibration_counter = 0;
 	const unsigned maxcount = 2400;
 
@@ -96,7 +91,7 @@ int do_airspeed_calibration(orb_advert_t *mavlink_log_pub)
 	int  fd = px4_open(AIRSPEED0_DEVICE_PATH, 0);
 
 	if (fd > 0) {
-		if (OK == px4_ioctl(fd, AIRSPEEDIOCSSCALE, (long unsigned int)&airscale)) {
+		if (PX4_OK == px4_ioctl(fd, AIRSPEEDIOCSSCALE, (long unsigned int)&airscale)) {
 			paramreset_successful = true;
 
 		} else {
@@ -165,7 +160,7 @@ int do_airspeed_calibration(orb_advert_t *mavlink_log_pub)
 		int  fd_scale = px4_open(AIRSPEED0_DEVICE_PATH, 0);
 		airscale.offset_pa = diff_pres_offset;
 		if (fd_scale > 0) {
-			if (OK != px4_ioctl(fd_scale, AIRSPEEDIOCSSCALE, (long unsigned int)&airscale)) {
+			if (PX4_OK != px4_ioctl(fd_scale, AIRSPEEDIOCSSCALE, (long unsigned int)&airscale)) {
 				calibration_log_critical(mavlink_log_pub, "[cal] airspeed offset update failed");
 			}
 
@@ -280,6 +275,6 @@ normal_return:
 	return result;
 
 error_return:
-	result = ERROR;
+	result = PX4_ERROR;
 	goto normal_return;
 }

src/modules/commander/baro_calibration.cpp

@@ -41,20 +41,15 @@
 #include <poll.h>
 #include <math.h>
 #include <fcntl.h>
+#include <px4_defines.h>
 #include <drivers/drv_hrt.h>
 #include <uORB/topics/sensor_combined.h>
 #include <drivers/drv_baro.h>
 #include <systemlib/mavlink_log.h>
 #include <systemlib/param/param.h>
 
-/* oddly, ERROR is not defined for c++ */
-#ifdef ERROR
-# undef ERROR
-#endif
-static const int ERROR = -1;
-
 int do_baro_calibration(orb_advert_t *mavlink_log_pub)
 {
 	// TODO implement this
-	return ERROR;
+	return PX4_ERROR;
 }

src/modules/commander/commander.cpp

@@ -65,6 +65,7 @@
 #include <drivers/drv_tone_alarm.h>
 #include <geo/geo.h>
 #include <navigator/navigation.h>
+#include <px4_defines.h>
 #include <px4_config.h>
 #include <px4_posix.h>
 #include <px4_tasks.h>
@@ -107,12 +108,6 @@
 #include <uORB/topics/vtol_vehicle_status.h>
 #include <uORB/uORB.h>
 
-/* oddly, ERROR is not defined for c++ */
-#ifdef ERROR
-# undef ERROR
-#endif
-static const int ERROR = -1;
-
 typedef enum VEHICLE_MODE_FLAG
 {
 	VEHICLE_MODE_FLAG_CUSTOM_MODE_ENABLED=1, /* 0b00000001 Reserved for future use. | */
@@ -1347,7 +1342,7 @@ int commander_thread_main(int argc, char *argv[])
 	if (status_pub == nullptr) {
 		warnx("ERROR: orb_advertise for topic vehicle_status failed (uorb app running?).\n");
 		warnx("exiting.");
-		px4_task_exit(ERROR);
+		px4_task_exit(PX4_ERROR);
 	}
 
 	/* Initialize armed with all false */
@@ -3780,7 +3775,7 @@ void *commander_low_prio_loop(void *arg)
 
 			case vehicle_command_s::VEHICLE_CMD_PREFLIGHT_CALIBRATION: {
 
-					int calib_ret = ERROR;
+					int calib_ret = PX4_ERROR;
 
 					/* try to go to INIT/PREFLIGHT arming state */
 					if (TRANSITION_DENIED == arming_state_transition(&status,

src/modules/commander/commander_helper.cpp

@@ -67,12 +67,6 @@
 
 using namespace DriverFramework;
 
-/* oddly, ERROR is not defined for c++ */
-#ifdef ERROR
-# undef ERROR
-#endif
-static const int ERROR = -1;
-
 #define VEHICLE_TYPE_QUADROTOR 2
 #define VEHICLE_TYPE_COAXIAL 3
 #define VEHICLE_TYPE_HELICOPTER 4
@@ -136,7 +130,7 @@ int buzzer_init()
 
 	if (!h_buzzer.isValid()) {
 		PX4_WARN("Buzzer: px4_open fail\n");
-		return ERROR;
+		return PX4_ERROR;
 	}
 
 	return PX4_OK;
@@ -273,7 +267,7 @@ int led_init()
 
 	if (!h_leds.isValid()) {
 		PX4_WARN("LED: getHandle fail\n");
-		return ERROR;
+		return PX4_ERROR;
 	}
 
 	/* the blue LED is only available on FMUv1 & AeroCore but not FMUv2 */
@@ -285,7 +279,7 @@ int led_init()
 	/* we consider the amber led mandatory */
 	if (h_leds.ioctl(LED_ON, LED_AMBER)) {
 		PX4_WARN("Amber LED: ioctl fail\n");
-		return ERROR;
+		return PX4_ERROR;
 	}
 
 	/* switch amber off */

src/modules/commander/esc_calibration.cpp

@@ -51,6 +51,7 @@
 #include <sys/ioctl.h>
 #include <systemlib/err.h>
 #include <fcntl.h>
+#include <px4_defines.h>
 #include <px4_posix.h>
 #include <px4_time.h>
 #include "drivers/drv_pwm_output.h"
@@ -60,12 +61,6 @@
 #include <drivers/drv_hrt.h>
 #include <systemlib/mavlink_log.h>
 
-/* oddly, ERROR is not defined for c++ */
-#ifdef ERROR
-# undef ERROR
-#endif
-static const int ERROR = -1;
-
 int check_if_batt_disconnected(orb_advert_t *mavlink_log_pub) {
 	struct battery_status_s battery;
 	memset(&battery,0,sizeof(battery));
@@ -74,14 +69,14 @@ int check_if_batt_disconnected(orb_advert_t *mavlink_log_pub) {
 
 	if (battery.voltage_filtered_v > 3.0f && !(hrt_absolute_time() - battery.timestamp > 500000)) {
 		mavlink_log_info(mavlink_log_pub, "Please disconnect battery and try again!");
-		return ERROR;
+		return PX4_ERROR;
 	}
-	return OK;
+	return PX4_OK;
 }
 
 int do_esc_calibration(orb_advert_t *mavlink_log_pub, struct actuator_armed_s* armed)
 {
-	int	return_code = OK;
+	int	return_code = PX4_OK;
 
 	int	fd = -1;
 
@@ -119,19 +114,19 @@ int do_esc_calibration(orb_advert_t *mavlink_log_pub, struct actuator_armed_s* a
 	}
 
 	/* tell IO/FMU that its ok to disable its safety with the switch */
-	if (px4_ioctl(fd, PWM_SERVO_SET_ARM_OK, 0) != OK) {
+	if (px4_ioctl(fd, PWM_SERVO_SET_ARM_OK, 0) != PX4_OK) {
 		calibration_log_critical(mavlink_log_pub, CAL_QGC_FAILED_MSG, "Unable to disable safety switch");
 		goto Error;
 	}
 
 	/* tell IO/FMU that the system is armed (it will output values if safety is off) */
-	if (px4_ioctl(fd, PWM_SERVO_ARM, 0) != OK) {
+	if (px4_ioctl(fd, PWM_SERVO_ARM, 0) != PX4_OK) {
 		calibration_log_critical(mavlink_log_pub, CAL_QGC_FAILED_MSG, "Unable to arm system");
 		goto Error;
 	}
 
 	/* tell IO to switch off safety without using the safety switch */
-	if (px4_ioctl(fd, PWM_SERVO_SET_FORCE_SAFETY_OFF, 0) != OK) {
+	if (px4_ioctl(fd, PWM_SERVO_SET_FORCE_SAFETY_OFF, 0) != PX4_OK) {
 		calibration_log_critical(mavlink_log_pub, CAL_QGC_FAILED_MSG, "Unable to force safety off");
 		goto Error;
 	}
@@ -175,26 +170,26 @@ Out:
 		orb_unsubscribe(batt_sub);
 	}
 	if (fd != -1) {
-		if (px4_ioctl(fd, PWM_SERVO_SET_FORCE_SAFETY_ON, 0) != OK) {
+		if (px4_ioctl(fd, PWM_SERVO_SET_FORCE_SAFETY_ON, 0) != PX4_OK) {
 			calibration_log_info(mavlink_log_pub, CAL_QGC_WARNING_MSG, "Safety switch still off");
 		}
-		if (px4_ioctl(fd, PWM_SERVO_DISARM, 0) != OK) {
+		if (px4_ioctl(fd, PWM_SERVO_DISARM, 0) != PX4_OK) {
 			calibration_log_info(mavlink_log_pub, CAL_QGC_WARNING_MSG, "Servos still armed");
 		}
-		if (px4_ioctl(fd, PWM_SERVO_CLEAR_ARM_OK, 0) != OK) {
+		if (px4_ioctl(fd, PWM_SERVO_CLEAR_ARM_OK, 0) != PX4_OK) {
 			calibration_log_info(mavlink_log_pub, CAL_QGC_WARNING_MSG, "Safety switch still deactivated");
 		}
 		px4_close(fd);
 	}
 	armed->in_esc_calibration_mode = false;
 
-	if (return_code == OK) {
+	if (return_code == PX4_OK) {
 		calibration_log_info(mavlink_log_pub, CAL_QGC_DONE_MSG, "esc");
 	}
 
 	return return_code;
 
 Error:
-	return_code = ERROR;
+	return_code = PX4_ERROR;
 	goto Out;
 }

src/modules/commander/gyro_calibration.cpp

@@ -43,6 +43,7 @@
 #include "commander_helper.h"
 
 #include <px4_posix.h>
+#include <px4_defines.h>
 #include <px4_time.h>
 #include <stdio.h>
 #include <unistd.h>
@@ -58,12 +59,6 @@
 #include <systemlib/err.h>
 #include <systemlib/mcu_version.h>
 
-/* oddly, ERROR is not defined for c++ */
-#ifdef ERROR
-# undef ERROR
-#endif
-static const int ERROR = -1;
-
 static const char *sensor_name = "gyro";
 
 static const unsigned max_gyros = 3;
@@ -151,7 +146,7 @@ static calibrate_return gyro_calibration_worker(int cancel_sub, void* data)
 
 int do_gyro_calibration(orb_advert_t *mavlink_log_pub)
 {
-	int			res = OK;
+	int			res = PX4_OK;
 	gyro_worker_data_t	worker_data = {};
 
 	calibration_log_info(mavlink_log_pub, CAL_QGC_STARTED_MSG, sensor_name);
@@ -178,9 +173,9 @@ int do_gyro_calibration(orb_advert_t *mavlink_log_pub)
 		worker_data.gyro_sensor_sub[s] = -1;
 		(void)sprintf(str, "CAL_GYRO%u_ID", s);
 		res = param_set_no_notification(param_find(str), &(worker_data.device_id[s]));
-		if (res != OK) {
+		if (res != PX4_OK) {
 			calibration_log_critical(mavlink_log_pub, "[cal] Unable to reset CAL_GYRO%u_ID", s);
-			return ERROR;
+			return PX4_ERROR;
 		}
 
 		// Reset all offsets to 0 and scales to 1
@@ -193,40 +188,40 @@ int do_gyro_calibration(orb_advert_t *mavlink_log_pub)
 			res = px4_ioctl(fd, GYROIOCSSCALE, (long unsigned int)&gyro_scale_zero);
 			px4_close(fd);
 
-			if (res != OK) {
+			if (res != PX4_OK) {
 				calibration_log_critical(mavlink_log_pub, CAL_ERROR_RESET_CAL_MSG, s);
-				return ERROR;
+				return PX4_ERROR;
 			}
 		}
 #else
 		(void)sprintf(str, "CAL_GYRO%u_XOFF", s);
 		res = param_set(param_find(str), &gyro_scale_zero.x_offset);
-		if (res != OK) {
+		if (res != PX4_OK) {
 			PX4_ERR("unable to reset %s", str);
 		}
 		(void)sprintf(str, "CAL_GYRO%u_YOFF", s);
 		res = param_set(param_find(str), &gyro_scale_zero.y_offset);
-		if (res != OK) {
+		if (res != PX4_OK) {
 			PX4_ERR("unable to reset %s", str);
 		}
 		(void)sprintf(str, "CAL_GYRO%u_ZOFF", s);
 		res = param_set(param_find(str), &gyro_scale_zero.z_offset);
-		if (res != OK) {
+		if (res != PX4_OK) {
 			PX4_ERR("unable to reset %s", str);
 		}
 		(void)sprintf(str, "CAL_GYRO%u_XSCALE", s);
 		res = param_set(param_find(str), &gyro_scale_zero.x_scale);
-		if (res != OK) {
+		if (res != PX4_OK) {
 			PX4_ERR("unable to reset %s", str);
 		}
 		(void)sprintf(str, "CAL_GYRO%u_YSCALE", s);
 		res = param_set(param_find(str), &gyro_scale_zero.y_scale);
-		if (res != OK) {
+		if (res != PX4_OK) {
 			PX4_ERR("unable to reset %s", str);
 		}
 		(void)sprintf(str, "CAL_GYRO%u_ZSCALE", s);
 		res = param_set(param_find(str), &gyro_scale_zero.z_scale);
-		if (res != OK) {
+		if (res != PX4_OK) {
 			PX4_ERR("unable to reset %s", str);
 		}
 #endif
@@ -263,7 +258,7 @@ int do_gyro_calibration(orb_advert_t *mavlink_log_pub)
 
 	unsigned try_count = 0;
 	unsigned max_tries = 20;
-	res = ERROR;
+	res = PX4_ERROR;
 
 	do {
 		// Calibrate gyro and ensure user didn't move
@@ -271,11 +266,11 @@ int do_gyro_calibration(orb_advert_t *mavlink_log_pub)
 
 		if (cal_return == calibrate_return_cancelled) {
 			// Cancel message already sent, we are done here
-			res = ERROR;
+			res = PX4_ERROR;
 			break;
 
 		} else if (cal_return == calibrate_return_error) {
-			res = ERROR;
+			res = PX4_ERROR;
 
 		} else {
 			/* check offsets */
@@ -294,19 +289,19 @@ int do_gyro_calibration(orb_advert_t *mavlink_log_pub)
 			    fabsf(zdiff) > maxoff) {
 
 				calibration_log_critical(mavlink_log_pub, "[cal] motion, retrying..");
-				res = ERROR;
+				res = PX4_ERROR;
 
 			} else {
-				res = OK;
+				res = PX4_OK;
 			}
 		}
 		try_count++;
 
-	} while (res == ERROR && try_count <= max_tries);
+	} while (res == PX4_ERROR && try_count <= max_tries);
 
 	if (try_count >= max_tries) {
 		calibration_log_critical(mavlink_log_pub, "[cal] ERROR: Motion during calibration");
-		res = ERROR;
+		res = PX4_ERROR;
 	}
 
 	calibrate_cancel_unsubscribe(cancel_sub);
@@ -315,26 +310,26 @@ int do_gyro_calibration(orb_advert_t *mavlink_log_pub)
 		px4_close(worker_data.gyro_sensor_sub[s]);
 	}
 
-	if (res == OK) {
+	if (res == PX4_OK) {
 
 		/* set offset parameters to new values */
 		bool failed = false;
 
-		failed = failed || (OK != param_set_no_notification(param_find("CAL_GYRO_PRIME"), &(device_id_primary)));
+		failed = failed || (PX4_OK != param_set_no_notification(param_find("CAL_GYRO_PRIME"), &(device_id_primary)));
 
 		for (unsigned s = 0; s < max_gyros; s++) {
 			if (worker_data.device_id[s] != 0) {
 				char str[30];
 
 				(void)sprintf(str, "CAL_GYRO%u_XOFF", s);
-				failed |= (OK != param_set_no_notification(param_find(str), &(worker_data.gyro_scale[s].x_offset)));
+				failed |= (PX4_OK != param_set_no_notification(param_find(str), &(worker_data.gyro_scale[s].x_offset)));
 				(void)sprintf(str, "CAL_GYRO%u_YOFF", s);
-				failed |= (OK != param_set_no_notification(param_find(str), &(worker_data.gyro_scale[s].y_offset)));
+				failed |= (PX4_OK != param_set_no_notification(param_find(str), &(worker_data.gyro_scale[s].y_offset)));
 				(void)sprintf(str, "CAL_GYRO%u_ZOFF", s);
-				failed |= (OK != param_set_no_notification(param_find(str), &(worker_data.gyro_scale[s].z_offset)));
+				failed |= (PX4_OK != param_set_no_notification(param_find(str), &(worker_data.gyro_scale[s].z_offset)));
 
 				(void)sprintf(str, "CAL_GYRO%u_ID", s);
-				failed |= (OK != param_set_no_notification(param_find(str), &(worker_data.device_id[s])));
+				failed |= (PX4_OK != param_set_no_notification(param_find(str), &(worker_data.device_id[s])));
 
 #if !defined(__PX4_QURT) && !defined(__PX4_POSIX_EAGLE) && !defined(__PX4_POSIX_RPI) && !defined(__PX4_POSIX_BEBOP)
 				/* apply new scaling and offsets */
@@ -349,7 +344,7 @@ int do_gyro_calibration(orb_advert_t *mavlink_log_pub)
 				res = px4_ioctl(fd, GYROIOCSSCALE, (long unsigned int)&worker_data.gyro_scale[s]);
 				px4_close(fd);
 
-				if (res != OK) {
+				if (res != PX4_OK) {
 					calibration_log_critical(mavlink_log_pub, CAL_ERROR_APPLY_CAL_MSG, 1);
 				}
 #endif
@@ -358,7 +353,7 @@ int do_gyro_calibration(orb_advert_t *mavlink_log_pub)
 
 		if (failed) {
 			calibration_log_critical(mavlink_log_pub, "[cal] ERROR: failed to set offset params");
-			res = ERROR;
+			res = PX4_ERROR;
 		}
 	}
 
@@ -369,11 +364,11 @@ int do_gyro_calibration(orb_advert_t *mavlink_log_pub)
 	/* store last 32bit number - not unique, but unique in a given set */
 	(void)param_set(param_find("CAL_BOARD_ID"), &mcu_id[2]);
 
-	if (res == OK) {
+	if (res == PX4_OK) {
 		/* auto-save to EEPROM */
 		res = param_save_default();
 
-		if (res != OK) {
+		if (res != PX4_OK) {
 			calibration_log_critical(mavlink_log_pub, CAL_ERROR_SAVE_PARAMS_MSG);
 		}
 	}
@@ -381,7 +376,7 @@ int do_gyro_calibration(orb_advert_t *mavlink_log_pub)
 	/* if there is a any preflight-check system response, let the barrage of messages through */
 	usleep(200000);
 
-	if (res == OK) {
+	if (res == PX4_OK) {
 		calibration_log_info(mavlink_log_pub, CAL_QGC_DONE_MSG, sensor_name);
 	} else {
 		calibration_log_info(mavlink_log_pub, CAL_QGC_FAILED_MSG, sensor_name);

src/modules/commander/mag_calibration.cpp

@@ -42,6 +42,7 @@
 #include "calibration_routines.h"
 #include "calibration_messages.h"
 
+#include <px4_defines.h>
 #include <px4_posix.h>
 #include <px4_time.h>
 #include <stdio.h>
@@ -60,12 +61,6 @@
 #include <systemlib/param/param.h>
 #include <systemlib/err.h>
 
-/* oddly, ERROR is not defined for c++ */
-#ifdef ERROR
-# undef ERROR
-#endif
-static const int ERROR = -1;
-
 static const char *sensor_name = "mag";
 static constexpr unsigned max_mags = 3;
 static constexpr float mag_sphere_radius = 0.2f;
@@ -111,7 +106,7 @@ int do_mag_calibration(orb_advert_t *mavlink_log_pub)
 	mscale_null.z_offset = 0.0f;
 	mscale_null.z_scale = 1.0f;
 
-	int result = OK;
+	int result = PX4_OK;
 
 	// Determine which mags are available and reset each
 
@@ -128,39 +123,39 @@ int do_mag_calibration(orb_advert_t *mavlink_log_pub)
 		// Reset mag id to mag not available
 		(void)sprintf(str, "CAL_MAG%u_ID", cur_mag);
 		result = param_set_no_notification(param_find(str), &(device_ids[cur_mag]));
-		if (result != OK) {
+		if (result != PX4_OK) {
 			calibration_log_info(mavlink_log_pub, "[cal] Unable to reset CAL_MAG%u_ID", cur_mag);
 			break;
 		}
 #else
 		(void)sprintf(str, "CAL_MAG%u_XOFF", cur_mag);
 		result = param_set(param_find(str), &mscale_null.x_offset);
-		if (result != OK) {
+		if (result != PX4_OK) {
 			PX4_ERR("unable to reset %s", str);
 		}
 		(void)sprintf(str, "CAL_MAG%u_YOFF", cur_mag);
 		result = param_set(param_find(str), &mscale_null.y_offset);
-		if (result != OK) {
+		if (result != PX4_OK) {
 			PX4_ERR("unable to reset %s", str);
 		}
 		(void)sprintf(str, "CAL_MAG%u_ZOFF", cur_mag);
 		result = param_set(param_find(str), &mscale_null.z_offset);
-		if (result != OK) {
+		if (result != PX4_OK) {
 			PX4_ERR("unable to reset %s", str);
 		}
 		(void)sprintf(str, "CAL_MAG%u_XSCALE", cur_mag);
 		result = param_set(param_find(str), &mscale_null.x_scale);
-		if (result != OK) {
+		if (result != PX4_OK) {
 			PX4_ERR("unable to reset %s", str);
 		}
 		(void)sprintf(str, "CAL_MAG%u_YSCALE", cur_mag);
 		result = param_set(param_find(str), &mscale_null.y_scale);
-		if (result != OK) {
+		if (result != PX4_OK) {
 			PX4_ERR("unable to reset %s", str);
 		}
 		(void)sprintf(str, "CAL_MAG%u_ZSCALE", cur_mag);
 		result = param_set(param_find(str), &mscale_null.z_scale);
-		if (result != OK) {
+		if (result != PX4_OK) {
 			PX4_ERR("unable to reset %s", str);
 		}
 #endif
@@ -181,18 +176,18 @@ int do_mag_calibration(orb_advert_t *mavlink_log_pub)
 		// Reset mag scale
 		result = px4_ioctl(fd, MAGIOCSSCALE, (long unsigned int)&mscale_null);
 
-		if (result != OK) {
+		if (result != PX4_OK) {
 			calibration_log_critical(mavlink_log_pub, CAL_ERROR_RESET_CAL_MSG, cur_mag);
 		}
 
 		/* calibrate range */
-		if (result == OK) {
+		if (result == PX4_OK) {
 			result = px4_ioctl(fd, MAGIOCCALIBRATE, fd);
 
-			if (result != OK) {
+			if (result != PX4_OK) {
 				calibration_log_info(mavlink_log_pub, "[cal] Skipped scale calibration, sensor %u", cur_mag);
 				/* this is non-fatal - mark it accordingly */
-				result = OK;
+				result = PX4_OK;
 			}
 		}
 
@@ -201,11 +196,11 @@ int do_mag_calibration(orb_advert_t *mavlink_log_pub)
 	}
 
 	// Calibrate all mags at the same time
-	if (result == OK) {
+	if (result == PX4_OK) {
 		switch (mag_calibrate_all(mavlink_log_pub)) {
 			case calibrate_return_cancelled:
 				// Cancel message already displayed, we're done here
-				result = ERROR;
+				result = PX4_ERROR;
 				break;
 
 			case calibrate_return_ok:
@@ -215,7 +210,7 @@ int do_mag_calibration(orb_advert_t *mavlink_log_pub)
 				/* if there is a any preflight-check system response, let the barrage of messages through */
 				usleep(200000);
 
-				if (result == OK) {
+				if (result == PX4_OK) {
 					calibration_log_info(mavlink_log_pub, CAL_QGC_PROGRESS_MSG, 100);
 					usleep(20000);
 					calibration_log_info(mavlink_log_pub, CAL_QGC_DONE_MSG, sensor_name);
@@ -680,7 +675,7 @@ calibrate_return mag_calibrate_all(orb_advert_t *mavlink_log_pub)
 				}
 
 				if (result == calibrate_return_ok) {
-					if (px4_ioctl(fd_mag, MAGIOCGSCALE, (long unsigned int)&mscale) != OK) {
+					if (px4_ioctl(fd_mag, MAGIOCGSCALE, (long unsigned int)&mscale) != PX4_OK) {
 						calibration_log_critical(mavlink_log_pub, "[cal] ERROR: failed to get current calibration #%u", cur_mag);
 						result = calibrate_return_error;
 					}
@@ -693,7 +688,7 @@ calibrate_return mag_calibrate_all(orb_advert_t *mavlink_log_pub)
 					mscale.z_offset = sphere_z[cur_mag];
 
 #if !defined(__PX4_QURT) && !defined(__PX4_POSIX_RPI) && !defined(__PX4_POSIX_BEBOP)
-					if (px4_ioctl(fd_mag, MAGIOCSSCALE, (long unsigned int)&mscale) != OK) {
+					if (px4_ioctl(fd_mag, MAGIOCSSCALE, (long unsigned int)&mscale) != PX4_OK) {
 						calibration_log_critical(mavlink_log_pub, CAL_ERROR_APPLY_CAL_MSG, cur_mag);
 						result = calibrate_return_error;
 					}
@@ -713,22 +708,22 @@ calibrate_return mag_calibrate_all(orb_advert_t *mavlink_log_pub)
 					/* set parameters */
 
 					(void)sprintf(str, "CAL_MAG%u_ID", cur_mag);
-					failed |= (OK != param_set_no_notification(param_find(str), &(device_ids[cur_mag])));
+					failed |= (PX4_OK != param_set_no_notification(param_find(str), &(device_ids[cur_mag])));
 					(void)sprintf(str, "CAL_MAG%u_XOFF", cur_mag);
-					failed |= (OK != param_set_no_notification(param_find(str), &(mscale.x_offset)));
+					failed |= (PX4_OK != param_set_no_notification(param_find(str), &(mscale.x_offset)));
 					(void)sprintf(str, "CAL_MAG%u_YOFF", cur_mag);
-					failed |= (OK != param_set_no_notification(param_find(str), &(mscale.y_offset)));
+					failed |= (PX4_OK != param_set_no_notification(param_find(str), &(mscale.y_offset)));
 					(void)sprintf(str, "CAL_MAG%u_ZOFF", cur_mag);
-					failed |= (OK != param_set_no_notification(param_find(str), &(mscale.z_offset)));
+					failed |= (PX4_OK != param_set_no_notification(param_find(str), &(mscale.z_offset)));
 
 					// FIXME: scaling is not used right now on QURT
 #ifndef __PX4_QURT
 					(void)sprintf(str, "CAL_MAG%u_XSCALE", cur_mag);
-					failed |= (OK != param_set_no_notification(param_find(str), &(mscale.x_scale)));
+					failed |= (PX4_OK != param_set_no_notification(param_find(str), &(mscale.x_scale)));
 					(void)sprintf(str, "CAL_MAG%u_YSCALE", cur_mag);
-					failed |= (OK != param_set_no_notification(param_find(str), &(mscale.y_scale)));
+					failed |= (PX4_OK != param_set_no_notification(param_find(str), &(mscale.y_scale)));
 					(void)sprintf(str, "CAL_MAG%u_ZSCALE", cur_mag);
-					failed |= (OK != param_set_no_notification(param_find(str), &(mscale.z_scale)));
+					failed |= (PX4_OK != param_set_no_notification(param_find(str), &(mscale.z_scale)));
 #endif
 
 					if (failed) {

src/modules/commander/rc_calibration.cpp

@@ -38,6 +38,7 @@
 
 #include <px4_posix.h>
 #include <px4_time.h>
+#include <px4_defines.h>
 
 #include "rc_calibration.h"
 #include "commander_helper.h"
@@ -50,12 +51,6 @@
 #include <systemlib/param/param.h>
 #include <systemlib/err.h>
 
-/* oddly, ERROR is not defined for c++ */
-#ifdef ERROR
-# undef ERROR
-#endif
-static const int ERROR = -1;
-
 int do_trim_calibration(orb_advert_t *mavlink_log_pub)
 {
 	int sub_man = orb_subscribe(ORB_ID(manual_control_setpoint));
@@ -66,7 +61,7 @@ int do_trim_calibration(orb_advert_t *mavlink_log_pub)
 
 	if (!changed) {
 		mavlink_log_critical(mavlink_log_pub, "no inputs, aborting");
-		return ERROR;
+		return PX4_ERROR;
 	}
 
 	orb_copy(ORB_ID(manual_control_setpoint), sub_man, &sp);
@@ -108,10 +103,10 @@ int do_trim_calibration(orb_advert_t *mavlink_log_pub)
 	if (save_ret != 0 || p1r != 0 || p2r != 0 || p3r != 0) {
 		mavlink_log_critical(mavlink_log_pub, "TRIM: PARAM SET FAIL");
 		px4_close(sub_man);
-		return ERROR;
+		return PX4_ERROR;
 	}
 
 	mavlink_log_info(mavlink_log_pub, "trim cal done");
 	px4_close(sub_man);
-	return OK;
+	return PX4_OK;
 }

src/modules/fw_att_control/fw_att_control_main.cpp

@@ -108,7 +108,7 @@ public:
 	/**
 	 * Start the main task.
 	 *
-	 * @return	OK on success.
+	 * @return	PX4_OK on success.
 	 */
 	int		start();
 
@@ -344,12 +344,6 @@ private:
 namespace att_control
 {
 
-/* oddly, ERROR is not defined for c++ */
-#ifdef ERROR
-# undef ERROR
-#endif
-static const int ERROR = -1;
-
 FixedwingAttitudeControl	*g_control = nullptr;
 }
 
@@ -583,7 +577,7 @@ FixedwingAttitudeControl::parameters_update()
 	_wheel_ctrl.set_integrator_max(_parameters.w_integrator_max);
 	_wheel_ctrl.set_max_rate(math::radians(_parameters.w_rmax));
 
-	return OK;
+	return PX4_OK;
 }
 
 void
@@ -1221,7 +1215,7 @@ FixedwingAttitudeControl::start()
 		return -errno;
 	}
 
-	return OK;
+	return PX4_OK;
 }
 
 int fw_att_control_main(int argc, char *argv[])
@@ -1245,7 +1239,7 @@ int fw_att_control_main(int argc, char *argv[])
 			return 1;
 		}
 
-		if (OK != att_control::g_control->start()) {
+		if (PX4_OK != att_control::g_control->start()) {
 			delete att_control::g_control;
 			att_control::g_control = nullptr;
 			warn("start failed");

src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp

@@ -525,12 +525,6 @@ private:
 namespace l1_control
 {
 
-/* oddly, ERROR is not defined for c++ */
-#ifdef ERROR
-# undef ERROR
-#endif
-static const int ERROR = -1;
-
 FixedwingPositionControl	*g_control = nullptr;
 }
 

src/modules/mavlink/mavlink_main.cpp

@@ -40,6 +40,7 @@
  */
 
 #include <px4_config.h>
+#include <px4_defines.h>
 #include <px4_getopt.h>
 #include <stdio.h>
 #include <stdlib.h>
@@ -92,12 +93,6 @@
 #error MAVLINK_CRC_EXTRA has to be defined on PX4 systems
 #endif
 
-/* oddly, ERROR is not defined for c++ */
-#ifdef ERROR
-# undef ERROR
-#endif
-static const int ERROR = -1;
-
 #define DEFAULT_REMOTE_PORT_UDP			14550 ///< GCS port per MAVLink spec
 #define DEFAULT_DEVICE_NAME			"/dev/ttyS1"
 #define MAX_DATA_RATE				10000000	///< max data rate in bytes/s
@@ -439,8 +434,8 @@ Mavlink::destroy_all_instances()
 			iterations++;
 
 			if (iterations > 1000) {
-				warnx("ERROR: Couldn't stop all mavlink instances.");
+				PX4_ERR("Couldn't stop all mavlink instances.");
-				return ERROR;
+				return PX4_ERROR;
 			}
 		}
 
@@ -695,7 +690,7 @@ int Mavlink::mavlink_open_uart(int baud, const char *uart_name)
 	case 1000000: speed = B1000000; break;
 
 	default:
-		warnx("ERROR: Unsupported baudrate: %d\n\tsupported examples:\n\t9600, 19200, 38400, 57600\t\n115200\n230400\n460800\n921600\n1000000\n",
+		PX4_ERR("Unsupported baudrate: %d\n\tsupported examples:\n\t9600, 19200, 38400, 57600\t\n115200\n230400\n460800\n921600\n1000000\n",
 		      baud);
 		return -EINVAL;
 	}
@@ -862,7 +857,7 @@ Mavlink::set_hil_enabled(bool hil_enabled)
 		configure_stream("HIL_CONTROLS", 0.0f);
 
 	} else {
-		ret = ERROR;
+		ret = PX4_ERROR;
 	}
 
 	return ret;
@@ -1362,7 +1357,7 @@ Mavlink::configure_stream(const char *stream_name, const float rate)
 	/* if we reach here, the stream list does not contain the stream */
 	warnx("stream %s not found", stream_name);
 
-	return ERROR;
+	return PX4_ERROR;
 }
 
 void
@@ -1432,7 +1427,7 @@ Mavlink::message_buffer_init(int size)
 	int ret;
 
 	if (_message_buffer.data == 0) {
-		ret = ERROR;
+		ret = PX4_ERROR;
 		_message_buffer.size = 0;
 
 	} else {
@@ -1824,7 +1819,7 @@ Mavlink::task_main(int argc, char *argv[])
 
 	if (err_flag) {
 		usage();
-		return ERROR;
+		return PX4_ERROR;
 	}
 
 	if (_datarate == 0) {
@@ -1839,7 +1834,7 @@ Mavlink::task_main(int argc, char *argv[])
 	if (get_protocol() == SERIAL) {
 		if (Mavlink::instance_exists(_device_name, this)) {
 			warnx("%s already running", _device_name);
-			return ERROR;
+			return PX4_ERROR;
 		}
 
 		PX4_INFO("mode: %s, data rate: %d B/s on %s @ %dB",
@@ -1853,7 +1848,7 @@ Mavlink::task_main(int argc, char *argv[])
 
 		if (_uart_fd < 0 && _mode != MAVLINK_MODE_CONFIG) {
 			warn("could not open %s", _device_name);
-			return ERROR;
+			return PX4_ERROR;
 
 		} else if (_uart_fd < 0 && _mode == MAVLINK_MODE_CONFIG) {
 			/* the config link is optional */
@@ -1863,7 +1858,7 @@ Mavlink::task_main(int argc, char *argv[])
 	} else if (get_protocol() == UDP) {
 		if (Mavlink::get_instance_for_network_port(_network_port) != nullptr) {
 			warnx("port %d already occupied", _network_port);
-			return ERROR;
+			return PX4_ERROR;
 		}
 
 		PX4_INFO("mode: %s, data rate: %d B/s on udp port %hu remote port %hu",

src/modules/mavlink/mavlink_mission.cpp

@@ -47,18 +47,13 @@
 #include <lib/geo/geo.h>
 #include <systemlib/err.h>
 #include <drivers/drv_hrt.h>
+#include <px4_defines.h>
 
 #include <dataman/dataman.h>
 #include <navigator/navigation.h>
 #include <uORB/topics/mission.h>
 #include <uORB/topics/mission_result.h>
 
-/* oddly, ERROR is not defined for c++ */
-#ifdef ERROR
-# undef ERROR
-#endif
-static const int ERROR = -1;
-
 int MavlinkMissionManager::_dataman_id = 0;
 bool MavlinkMissionManager::_dataman_init = false;
 unsigned MavlinkMissionManager::_count = 0;
@@ -178,7 +173,7 @@ MavlinkMissionManager::update_active_mission(int dataman_id, unsigned count, int
 			orb_publish(ORB_ID(offboard_mission), _offboard_mission_pub, &mission);
 		}
 
-		return OK;
+		return PX4_OK;
 
 	} else {
 		warnx("WPM: ERROR: can't save mission state");
@@ -187,7 +182,7 @@ MavlinkMissionManager::update_active_mission(int dataman_id, unsigned count, int
 			_mavlink->send_statustext_critical("Mission storage: Unable to write to microSD");
 		}
 
-		return ERROR;
+		return PX4_ERROR;
 	}
 }
 
@@ -507,7 +502,7 @@ MavlinkMissionManager::handle_mission_set_current(const mavlink_message_t *msg)
 			_time_last_recv = hrt_absolute_time();
 
 			if (wpc.seq < _count) {
-				if (update_active_mission(_dataman_id, _count, wpc.seq) == OK) {
+				if (update_active_mission(_dataman_id, _count, wpc.seq) == PX4_OK) {
 					if (_verbose) { warnx("WPM: MISSION_SET_CURRENT seq=%d OK", wpc.seq); }
 
 				} else {
@@ -792,7 +787,7 @@ MavlinkMissionManager::handle_mission_item_both(const mavlink_message_t *msg)
 
 		int ret = parse_mavlink_mission_item(&wp, &mission_item);
 
-		if (ret != OK) {
+		if (ret != PX4_OK) {
 			if (_verbose) { warnx("WPM: MISSION_ITEM ERROR: seq %u invalid item", wp.seq); }
 
 			_mavlink->send_statustext_critical("IGN MISSION_ITEM: Busy");
@@ -831,7 +826,7 @@ MavlinkMissionManager::handle_mission_item_both(const mavlink_message_t *msg)
 
 			_state = MAVLINK_WPM_STATE_IDLE;
 
-			if (update_active_mission(_transfer_dataman_id, _transfer_count, _transfer_current_seq) == OK) {
+			if (update_active_mission(_transfer_dataman_id, _transfer_count, _transfer_current_seq) == PX4_OK) {
 				send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ACCEPTED);
 
 			} else {
@@ -860,7 +855,7 @@ MavlinkMissionManager::handle_mission_clear_all(const mavlink_message_t *msg)
 			/* don't touch mission items storage itself, but only items count in mission state */
 			_time_last_recv = hrt_absolute_time();
 
-			if (update_active_mission(_dataman_id == 0 ? 1 : 0, 0, 0) == OK) {
+			if (update_active_mission(_dataman_id == 0 ? 1 : 0, 0, 0) == PX4_OK) {
 				if (_verbose) { warnx("WPM: CLEAR_ALL OK"); }
 
 				send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ACCEPTED);
@@ -1050,7 +1045,7 @@ MavlinkMissionManager::format_mavlink_mission_item(const struct mission_item_s *
 			break;
 
 		default:
-			return ERROR;
+			return PX4_ERROR;
 		}
 
 	} else {
@@ -1122,11 +1117,11 @@ MavlinkMissionManager::format_mavlink_mission_item(const struct mission_item_s *
 			break;
 
 		default:
-			return ERROR;
+			return PX4_ERROR;
 		}
 	}
 
-	return OK;
+	return PX4_OK;
 }
 
 

src/modules/navigator/geofence.cpp

@@ -49,6 +49,7 @@
 #include <stdio.h>
 #include <ctype.h>
 #include <px4_config.h>
+#include <px4_defines.h>
 #include <unistd.h>
 #include <geo/geo.h>
 #include <drivers/drv_hrt.h>
@@ -56,13 +57,6 @@
 
 #define GEOFENCE_RANGE_WARNING_LIMIT 5000000
 
-/* Oddly, ERROR is not defined for C++ */
-#ifdef ERROR
-# undef ERROR
-#endif
-static const int ERROR = -1;
-
-
 Geofence::Geofence(Navigator *navigator) :
 	SuperBlock(NULL, "GF"),
 	_navigator(navigator),
@@ -323,7 +317,7 @@ Geofence::loadFromFile(const char *filename)
 	int			pointCounter = 0;
 	bool		gotVertical = false;
 	const char commentChar = '#';
-	int rc = ERROR;
+	int rc = PX4_ERROR;
 
 	/* Make sure no data is left in the datamanager */
 	clearDm();
@@ -332,7 +326,7 @@ Geofence::loadFromFile(const char *filename)
 	fp = fopen(GEOFENCE_FILENAME, "r");
 
 	if (fp == NULL) {
-		return ERROR;
+		return PX4_ERROR;
 	}
 
 	/* create geofence points from valid lines and store in DM */
@@ -408,7 +402,7 @@ Geofence::loadFromFile(const char *filename)
 		_vertices_count = pointCounter;
 		warnx("Geofence: imported successfully");
 		mavlink_log_info(_navigator->get_mavlink_log_pub(), "Geofence imported");
-		rc = OK;
+		rc = PX4_OK;
 
 	} else {
 		warnx("Geofence: import error");
@@ -423,5 +417,5 @@ error:
 int Geofence::clearDm()
 {
 	dm_clear(DM_KEY_FENCE_POINTS);
-	return OK;
+	return PX4_OK;
 }

src/platforms/posix/drivers/airspeedsim/airspeedsim.h

@@ -39,8 +39,7 @@
  */
 
 #include <px4_config.h>
-
+#include <px4_defines.h>
-//#include <drivers/device/i2c.h>
 
 #include <sys/types.h>
 #include <stdint.h>
@@ -55,10 +54,6 @@
 #include <math.h>
 #include <unistd.h>
 
-//#include <nuttx/arch.h>
-//#include <nuttx/wqueue.h>
-//#include <nuttx/clock.h>
-
 #include <px4_workqueue.h>
 #include <arch/board/board.h>
 
@@ -79,12 +74,6 @@
 /* Default I2C bus */
 #define PX4_I2C_BUS_DEFAULT		PX4_I2C_BUS_EXPANSION
 
-/* Oddly, ERROR is not defined for C++ */
-#ifdef ERROR
-# undef ERROR
-#endif
-static const int ERROR = -1;
-
 #ifndef CONFIG_SCHED_WORKQUEUE
 # error This requires CONFIG_SCHED_WORKQUEUE.
 #endif

src/platforms/posix/drivers/gpssim/gpssim.cpp

@@ -37,6 +37,7 @@
  */
 
 #include <sys/types.h>
+#include <px4_defines.h>
 #include <inttypes.h>
 #include <stdio.h>
 #include <stdbool.h>
@@ -72,12 +73,6 @@ using namespace DriverFramework;
 #define TIMEOUT_5HZ 500
 #define RATE_MEASUREMENT_PERIOD 5000000
 
-/* oddly, ERROR is not defined for c++ */
-#ifdef ERROR
-# undef ERROR
-#endif
-static const int ERROR = -1;
-
 /* class for dynamic allocation of satellite info data */
 class GPS_Sat_Info
 {
@@ -220,7 +215,7 @@ GPSSIM::~GPSSIM()
 int
 GPSSIM::init()
 {
-	int ret = ERROR;
+	int ret = PX4_ERROR;
 
 	/* do regular cdev init */
 	if (VirtDevObj::init() != OK) {