diff --git a/src/drivers/distance_sensor/mb12xx/CMakeLists.txt b/src/drivers/distance_sensor/mb12xx/CMakeLists.txt index 77f1efc171..22ebfa6860 100644 --- a/src/drivers/distance_sensor/mb12xx/CMakeLists.txt +++ b/src/drivers/distance_sensor/mb12xx/CMakeLists.txt @@ -34,7 +34,6 @@ px4_add_module( MODULE drivers__mb12xx MAIN mb12xx COMPILE_FLAGS - -Wno-sign-compare SRCS mb12xx.cpp DEPENDS diff --git a/src/drivers/distance_sensor/mb12xx/mb12xx.cpp b/src/drivers/distance_sensor/mb12xx/mb12xx.cpp index 977efaa4cd..2e4e6445b7 100644 --- a/src/drivers/distance_sensor/mb12xx/mb12xx.cpp +++ b/src/drivers/distance_sensor/mb12xx/mb12xx.cpp @@ -118,9 +118,9 @@ private: float _min_distance; float _max_distance; work_s _work; - ringbuffer::RingBuffer *_reports; + ringbuffer::RingBuffer *_reports; bool _sensor_ok; - int _measure_ticks; + int _measure_ticks; bool _collect_phase; int _class_instance; int _orb_class_instance; diff --git a/src/drivers/distance_sensor/sf0x/CMakeLists.txt b/src/drivers/distance_sensor/sf0x/CMakeLists.txt index 42583ec15a..165788448c 100644 --- a/src/drivers/distance_sensor/sf0x/CMakeLists.txt +++ b/src/drivers/distance_sensor/sf0x/CMakeLists.txt @@ -34,7 +34,6 @@ px4_add_module( MODULE drivers__sf0x MAIN sf0x COMPILE_FLAGS - -Wno-sign-compare # TODO: fix all sign-compare SRCS sf0x.cpp sf0x_parser.cpp diff --git a/src/drivers/distance_sensor/sf0x/sf0x.cpp b/src/drivers/distance_sensor/sf0x/sf0x.cpp index 9369a2a82a..3d6cb3dc8d 100644 --- a/src/drivers/distance_sensor/sf0x/sf0x.cpp +++ b/src/drivers/distance_sensor/sf0x/sf0x.cpp @@ -105,7 +105,7 @@ private: uint8_t _rotation; float _min_distance; float _max_distance; - int _conversion_interval; + int _conversion_interval; work_s _work; ringbuffer::RingBuffer *_reports; int _measure_ticks; @@ -419,7 +419,7 @@ SF0X::ioctl(device::file_t *filp, int cmd, unsigned long arg) bool want_start = (_measure_ticks == 0); /* convert hz to tick interval via microseconds */ - unsigned ticks = USEC2TICK(1000000 / arg); + int ticks = USEC2TICK(1000000 / arg); /* check against maximum rate */ if (ticks < USEC2TICK(_conversion_interval)) { @@ -564,7 +564,7 @@ SF0X::collect() perf_begin(_sample_perf); /* clear buffer if last read was too long ago */ - uint64_t read_elapsed = hrt_elapsed_time(&_last_read); + int64_t read_elapsed = hrt_elapsed_time(&_last_read); /* the buffer for read chars is buflen minus null termination */ char readbuf[sizeof(_linebuf)]; diff --git a/src/drivers/distance_sensor/sf0x/sf0x_tests/CMakeLists.txt b/src/drivers/distance_sensor/sf0x/sf0x_tests/CMakeLists.txt index 6fb9da255e..22b553b7c1 100644 --- a/src/drivers/distance_sensor/sf0x/sf0x_tests/CMakeLists.txt +++ b/src/drivers/distance_sensor/sf0x/sf0x_tests/CMakeLists.txt @@ -34,7 +34,6 @@ px4_add_module( MODULE drivers__sf0x__sf0x_tests MAIN sf0x_tests COMPILE_FLAGS - -Wno-sign-compare # TODO: fix all sign-compare SRCS SF0XTest.cpp ../sf0x_parser.cpp diff --git a/src/drivers/distance_sensor/sf0x/sf0x_tests/SF0XTest.cpp b/src/drivers/distance_sensor/sf0x/sf0x_tests/SF0XTest.cpp index d7e23e178e..0f78cf5021 100644 --- a/src/drivers/distance_sensor/sf0x/sf0x_tests/SF0XTest.cpp +++ b/src/drivers/distance_sensor/sf0x/sf0x_tests/SF0XTest.cpp @@ -58,9 +58,9 @@ bool SF0XTest::sf0xTest() for (unsigned l = 0; l < sizeof(lines) / sizeof(lines[0]); l++) { //printf("\n%s", _linebuf); - int parse_ret; + int parse_ret = -1; - for (int i = 0; i < strlen(lines[l]); i++) { + for (int i = 0; i < (ssize_t)strlen(lines[l]); i++) { parse_ret = sf0x_parser(lines[l][i], _parserbuf, &_parsebuf_index, &state, &dist_m); if (parse_ret == 0) { diff --git a/src/drivers/distance_sensor/sf1xx/CMakeLists.txt b/src/drivers/distance_sensor/sf1xx/CMakeLists.txt index d722ac31cb..3e28d3a31e 100644 --- a/src/drivers/distance_sensor/sf1xx/CMakeLists.txt +++ b/src/drivers/distance_sensor/sf1xx/CMakeLists.txt @@ -35,7 +35,6 @@ px4_add_module( MODULE drivers__sf1xx MAIN sf1xx COMPILE_FLAGS - -Wno-sign-compare SRCS sf1xx.cpp DEPENDS diff --git a/src/drivers/distance_sensor/srf02/CMakeLists.txt b/src/drivers/distance_sensor/srf02/CMakeLists.txt index a0cc6e3224..c1c1be9756 100644 --- a/src/drivers/distance_sensor/srf02/CMakeLists.txt +++ b/src/drivers/distance_sensor/srf02/CMakeLists.txt @@ -34,7 +34,6 @@ px4_add_module( MODULE drivers__srf02 MAIN srf02 COMPILE_FLAGS - -Wno-sign-compare SRCS srf02.cpp DEPENDS diff --git a/src/drivers/distance_sensor/teraranger/CMakeLists.txt b/src/drivers/distance_sensor/teraranger/CMakeLists.txt index 3ccf413d45..eb2ab56ed0 100644 --- a/src/drivers/distance_sensor/teraranger/CMakeLists.txt +++ b/src/drivers/distance_sensor/teraranger/CMakeLists.txt @@ -35,7 +35,6 @@ px4_add_module( MAIN teraranger STACK_MAIN 1200 COMPILE_FLAGS - -Wno-sign-compare SRCS teraranger.cpp DEPENDS diff --git a/src/drivers/distance_sensor/teraranger/teraranger.cpp b/src/drivers/distance_sensor/teraranger/teraranger.cpp index ebff641b1c..5d988f8a59 100644 --- a/src/drivers/distance_sensor/teraranger/teraranger.cpp +++ b/src/drivers/distance_sensor/teraranger/teraranger.cpp @@ -125,7 +125,7 @@ private: ringbuffer::RingBuffer *_reports; bool _sensor_ok; uint8_t _valid; - int _measure_ticks; + int _measure_ticks; bool _collect_phase; int _class_instance; int _orb_class_instance; diff --git a/src/drivers/distance_sensor/tfmini/CMakeLists.txt b/src/drivers/distance_sensor/tfmini/CMakeLists.txt index 6a65c4fb9b..583012a3d7 100644 --- a/src/drivers/distance_sensor/tfmini/CMakeLists.txt +++ b/src/drivers/distance_sensor/tfmini/CMakeLists.txt @@ -34,7 +34,6 @@ px4_add_module( MODULE drivers__tfmini MAIN tfmini COMPILE_FLAGS - -Wno-sign-compare SRCS tfmini.cpp tfmini_parser.cpp diff --git a/src/drivers/distance_sensor/tfmini/tfmini.cpp b/src/drivers/distance_sensor/tfmini/tfmini.cpp index 25bb659d6d..0d436bd039 100644 --- a/src/drivers/distance_sensor/tfmini/tfmini.cpp +++ b/src/drivers/distance_sensor/tfmini/tfmini.cpp @@ -411,7 +411,7 @@ TFMINI::ioctl(device::file_t *filp, int cmd, unsigned long arg) bool want_start = (_measure_ticks == 0); /* convert hz to tick interval via microseconds */ - unsigned ticks = USEC2TICK(1000000 / arg); + int ticks = USEC2TICK(1000000 / arg); /* check against maximum rate */ if (ticks < USEC2TICK(_conversion_interval)) { @@ -528,7 +528,7 @@ TFMINI::collect() perf_begin(_sample_perf); /* clear buffer if last read was too long ago */ - uint64_t read_elapsed = hrt_elapsed_time(&_last_read); + int64_t read_elapsed = hrt_elapsed_time(&_last_read); /* the buffer for read chars is buflen minus null termination */ char readbuf[sizeof(_linebuf)]; diff --git a/src/drivers/vmount/CMakeLists.txt b/src/drivers/vmount/CMakeLists.txt index 21fa3d7adc..8b996ffeb2 100644 --- a/src/drivers/vmount/CMakeLists.txt +++ b/src/drivers/vmount/CMakeLists.txt @@ -34,7 +34,6 @@ px4_add_module( MODULE drivers__vmount MAIN vmount COMPILE_FLAGS - -Wno-sign-compare # TODO: fix all sign-compare STACK_MAIN 1024 SRCS input.cpp diff --git a/src/drivers/vmount/vmount.cpp b/src/drivers/vmount/vmount.cpp index 54a14c4b00..e82e745ddd 100644 --- a/src/drivers/vmount/vmount.cpp +++ b/src/drivers/vmount/vmount.cpp @@ -72,11 +72,11 @@ using namespace vmount; static volatile bool thread_should_exit = false; static volatile bool thread_running = false; -static constexpr unsigned input_objs_len_max = 3; +static constexpr int input_objs_len_max = 3; struct ThreadData { InputBase *input_objs[input_objs_len_max] = {nullptr, nullptr, nullptr}; - unsigned input_objs_len = 0; + int input_objs_len = 0; OutputBase *output_obj = nullptr; }; static volatile ThreadData *g_thread_data = nullptr; diff --git a/src/lib/controllib/BlockLowPassVector.hpp b/src/lib/controllib/BlockLowPassVector.hpp index c35aeaaa2e..96990b0567 100644 --- a/src/lib/controllib/BlockLowPassVector.hpp +++ b/src/lib/controllib/BlockLowPassVector.hpp @@ -66,14 +66,14 @@ public: _state(), _fCut(this, "") // only one parameter, no need to name { - for (int i = 0; i < M; i++) { + for (size_t i = 0; i < M; i++) { _state(i) = 0.0f / 0.0f; } } virtual ~BlockLowPassVector() {} matrix::Vector update(const matrix::Matrix &input) { - for (int i = 0; i < M; i++) { + for (size_t i = 0; i < M; i++) { if (!PX4_ISFINITE(getState()(i))) { setState(input); } diff --git a/src/modules/commander/CMakeLists.txt b/src/modules/commander/CMakeLists.txt index b6796a2cc8..6bd70a6306 100644 --- a/src/modules/commander/CMakeLists.txt +++ b/src/modules/commander/CMakeLists.txt @@ -36,7 +36,6 @@ px4_add_module( STACK_MAIN 4096 STACK_MAX 2450 COMPILE_FLAGS - -Wno-sign-compare # TODO: fix all sign-compare SRCS accelerometer_calibration.cpp airspeed_calibration.cpp diff --git a/src/modules/commander/accelerometer_calibration.cpp b/src/modules/commander/accelerometer_calibration.cpp index 455f1e5f94..3751f074f3 100644 --- a/src/modules/commander/accelerometer_calibration.cpp +++ b/src/modules/commander/accelerometer_calibration.cpp @@ -488,7 +488,7 @@ calibrate_return do_accel_calibration_measurements(orb_advert_t *mavlink_log_pub // and match it up with the one from the uORB subscription, because the // instance ordering of uORB and the order of the FDs may not be the same. - if(report.device_id == device_id[cur_accel]) { + if (report.device_id == (uint32_t)device_id[cur_accel]) { // Device IDs match, correct ORB instance for this accel found_cur_accel = true; // store initial timestamp - used to infer which sensors are active diff --git a/src/modules/commander/calibration_routines.cpp b/src/modules/commander/calibration_routines.cpp index fcdddeb544..a26c4a3767 100644 --- a/src/modules/commander/calibration_routines.cpp +++ b/src/modules/commander/calibration_routines.cpp @@ -238,7 +238,7 @@ int sphere_fit_least_squares(const float x[], const float y[], const float z[], } int ellipsoid_fit_least_squares(const float x[], const float y[], const float z[], - unsigned int size, unsigned int max_iterations, float delta, float *offset_x, float *offset_y, float *offset_z, + unsigned int size, int max_iterations, float delta, float *offset_x, float *offset_y, float *offset_z, float *sphere_radius, float *diag_x, float *diag_y, float *diag_z, float *offdiag_x, float *offdiag_y, float *offdiag_z) { float _fitness = 1.0e30f, _sphere_lambda = 1.0f, _ellipsoid_lambda = 1.0f; diff --git a/src/modules/commander/calibration_routines.h b/src/modules/commander/calibration_routines.h index dca5e1d153..939147901a 100644 --- a/src/modules/commander/calibration_routines.h +++ b/src/modules/commander/calibration_routines.h @@ -58,7 +58,7 @@ int sphere_fit_least_squares(const float x[], const float y[], const float z[], unsigned int size, unsigned int max_iterations, float delta, float *sphere_x, float *sphere_y, float *sphere_z, float *sphere_radius); int ellipsoid_fit_least_squares(const float x[], const float y[], const float z[], - unsigned int size, unsigned int max_iterations, float delta, float *offset_x, float *offset_y, float *offset_z, + unsigned int size, int max_iterations, float delta, float *offset_x, float *offset_y, float *offset_z, float *sphere_radius, float *diag_x, float *diag_y, float *diag_z, float *offdiag_x, float *offdiag_y, float *offdiag_z); int run_lm_sphere_fit(const float x[], const float y[], const float z[], float &_fitness, float &_sphere_lambda, diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 3ac0805b4d..9dbbad4f9f 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -1306,8 +1306,8 @@ Commander::run() /* Start monitoring loop */ unsigned counter = 0; - unsigned stick_off_counter = 0; - unsigned stick_on_counter = 0; + int stick_off_counter = 0; + int stick_on_counter = 0; bool low_battery_voltage_actions_done = false; bool critical_battery_voltage_actions_done = false; @@ -3076,7 +3076,7 @@ Commander::set_main_state_rc(const vehicle_status_s &status_local, bool *changed /* we know something has changed - check if we are in mode slot operation */ if (sp_man.mode_slot != manual_control_setpoint_s::MODE_SLOT_NONE) { - if (sp_man.mode_slot >= sizeof(_flight_mode_slots) / sizeof(_flight_mode_slots[0])) { + if (sp_man.mode_slot >= (int)(sizeof(_flight_mode_slots) / sizeof(_flight_mode_slots[0]))) { warnx("m slot overflow"); return TRANSITION_DENIED; } diff --git a/src/modules/commander/gyro_calibration.cpp b/src/modules/commander/gyro_calibration.cpp index 2e5e33a04e..098c0d2aaa 100644 --- a/src/modules/commander/gyro_calibration.cpp +++ b/src/modules/commander/gyro_calibration.cpp @@ -316,7 +316,7 @@ int do_gyro_calibration(orb_advert_t *mavlink_log_pub) // and match it up with the one from the uORB subscription, because the // instance ordering of uORB and the order of the FDs may not be the same. - if(report.device_id == worker_data.device_id[cur_gyro]) { + if (report.device_id == (uint32_t)worker_data.device_id[cur_gyro]) { // Device IDs match, correct ORB instance for this gyro found_cur_gyro = true; } else { diff --git a/src/modules/commander/mag_calibration.cpp b/src/modules/commander/mag_calibration.cpp index e05ee2d227..b6ee8f18fd 100644 --- a/src/modules/commander/mag_calibration.cpp +++ b/src/modules/commander/mag_calibration.cpp @@ -609,7 +609,7 @@ calibrate_return mag_calibrate_all(orb_advert_t *mavlink_log_pub) // and match it up with the one from the uORB subscription, because the // instance ordering of uORB and the order of the FDs may not be the same. - if(report.device_id == device_ids[cur_mag]) { + if (report.device_id == (uint32_t)device_ids[cur_mag]) { // Device IDs match, correct ORB instance for this mag found_cur_mag = true; } else { diff --git a/src/modules/dataman/CMakeLists.txt b/src/modules/dataman/CMakeLists.txt index 1b9d3a300c..3d11b0f537 100644 --- a/src/modules/dataman/CMakeLists.txt +++ b/src/modules/dataman/CMakeLists.txt @@ -35,7 +35,6 @@ px4_add_module( MAIN dataman STACK_MAIN 1200 COMPILE_FLAGS - -Wno-sign-compare # TODO: fix all sign-compare SRCS dataman.cpp ) diff --git a/src/modules/dataman/dataman.cpp b/src/modules/dataman/dataman.cpp index 0e8c767d52..f2064fdfb3 100644 --- a/src/modules/dataman/dataman.cpp +++ b/src/modules/dataman/dataman.cpp @@ -808,7 +808,7 @@ static int _ram_restart(dm_reset_reason reason) static int _file_restart(dm_reset_reason reason) { - unsigned offset = 0; + int offset = 0; int result = 0; /* We need to scan the entire file and invalidate and data that should not persist after the last reset */ diff --git a/src/modules/ekf2/CMakeLists.txt b/src/modules/ekf2/CMakeLists.txt index 9bfed2e8dd..890e5fab59 100644 --- a/src/modules/ekf2/CMakeLists.txt +++ b/src/modules/ekf2/CMakeLists.txt @@ -34,7 +34,6 @@ px4_add_module( MODULE modules__ekf2 MAIN ekf2 COMPILE_FLAGS - -Wno-sign-compare # TODO: fix all sign-compare STACK_MAIN 2500 STACK_MAX 4000 SRCS diff --git a/src/modules/ekf2/ekf2_main.cpp b/src/modules/ekf2/ekf2_main.cpp index cc37cff0ae..49173bfd17 100644 --- a/src/modules/ekf2/ekf2_main.cpp +++ b/src/modules/ekf2/ekf2_main.cpp @@ -130,8 +130,7 @@ private: float _mag_data_sum[3] = {}; ///< summed magnetometer readings (Gauss) uint64_t _mag_time_sum_ms = 0; ///< summed magnetoemter time stamps (mSec) uint8_t _mag_sample_count = 0; ///< number of magnetometer measurements summed during downsampling - uint32_t _mag_time_ms_last_used = - 0; ///< time stamp of the last averaged magnetometer measurement sent to the EKF (mSec) + int32_t _mag_time_ms_last_used = 0; ///< time stamp of the last averaged magnetometer measurement sent to the EKF (mSec) // Used to down sample barometer data float _balt_data_sum = 0.0f; ///< summed pressure altitude readings (m) @@ -724,7 +723,7 @@ void Ekf2::run() // Do not reset parmameters when armed to prevent potential time slips casued by parameter set // and notification events // Check if there has been a persistant change in magnetometer ID - if (sensor_selection.mag_device_id != 0 && sensor_selection.mag_device_id != _mag_bias_id.get()) { + if (sensor_selection.mag_device_id != 0 && sensor_selection.mag_device_id != (uint32_t)_mag_bias_id.get()) { if (_invalid_mag_id_count < 200) { _invalid_mag_id_count++; } @@ -759,9 +758,9 @@ void Ekf2::run() _mag_data_sum[0] += magnetometer.magnetometer_ga[0]; _mag_data_sum[1] += magnetometer.magnetometer_ga[1]; _mag_data_sum[2] += magnetometer.magnetometer_ga[2]; - uint32_t mag_time_ms = _mag_time_sum_ms / _mag_sample_count; + int32_t mag_time_ms = _mag_time_sum_ms / _mag_sample_count; - if (mag_time_ms - _mag_time_ms_last_used > _params->sensor_interval_min_ms) { + if ((mag_time_ms - _mag_time_ms_last_used) > _params->sensor_interval_min_ms) { const float mag_sample_count_inv = 1.0f / _mag_sample_count; // calculate mean of measurements and correct for learned bias offsets float mag_data_avg_ga[3] = {_mag_data_sum[0] *mag_sample_count_inv - _mag_bias_x.get(), @@ -1337,7 +1336,7 @@ void Ekf2::run() // Check and save the last valid calibration when we are disarmed if ((vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_STANDBY) && (status.filter_fault_flags == 0) - && (sensor_selection.mag_device_id == _mag_bias_id.get())) { + && (sensor_selection.mag_device_id == (uint32_t)_mag_bias_id.get())) { update_mag_bias(_mag_bias_x, 0); update_mag_bias(_mag_bias_y, 1); diff --git a/src/modules/events/CMakeLists.txt b/src/modules/events/CMakeLists.txt index 1ae991d766..49a3fb6db2 100644 --- a/src/modules/events/CMakeLists.txt +++ b/src/modules/events/CMakeLists.txt @@ -36,7 +36,6 @@ px4_add_module( MAIN send_event STACK_MAIN 2200 COMPILE_FLAGS - -Wno-sign-compare # TODO: fix all sign-compare SRCS send_event.cpp temperature_calibration/accel.cpp diff --git a/src/modules/events/temperature_calibration/polyfit.hpp b/src/modules/events/temperature_calibration/polyfit.hpp index b856f0fc87..b3d0e95bc6 100644 --- a/src/modules/events/temperature_calibration/polyfit.hpp +++ b/src/modules/events/temperature_calibration/polyfit.hpp @@ -112,7 +112,7 @@ Author: Siddharth Bharat Purohit #define PF_DEBUG(fmt, ...) #endif -template +template class polyfitter { public: @@ -131,7 +131,7 @@ public: IVTV = _VTV.I(); - for (unsigned i = 0; i < _forder; i++) { + for (int i = 0; i < _forder; i++) { for (int j = 0; j < _forder; j++) { PF_DEBUG("%.10f ", (double)IVTV(i, j)); } @@ -139,7 +139,7 @@ public: PF_DEBUG("\n"); } - for (unsigned i = 0; i < _forder; i++) { + for (int i = 0; i < _forder; i++) { res[i] = 0.0; for (int j = 0; j < _forder; j++) { @@ -161,7 +161,7 @@ private: double temp = 1.0; PF_DEBUG("O %.6f\n", (double)x); - for (int8_t i = _forder - 1; i >= 0; i--) { + for (int i = _forder - 1; i >= 0; i--) { _VTY(i) += y * temp; temp *= x; PF_DEBUG("%.6f ", (double)_VTY(i)); @@ -175,7 +175,7 @@ private: double temp = 1.0; int8_t z; - for (unsigned i = 0; i < _forder; i++) { + for (int i = 0; i < _forder; i++) { for (int j = 0; j < _forder; j++) { PF_DEBUG("%.10f ", (double)_VTV(i, j)); } @@ -183,7 +183,7 @@ private: PF_DEBUG("\n"); } - for (int8_t i = 2 * _forder - 2; i >= 0; i--) { + for (int i = 2 * _forder - 2; i >= 0; i--) { if (i < _forder) { z = 0.0f; @@ -192,8 +192,8 @@ private: } for (int j = i - z; j >= z; j--) { - unsigned row = j; - unsigned col = i - j; + int row = j; + int col = i - j; _VTV(row, col) += (double)temp; } diff --git a/src/modules/events/temperature_calibration/task.cpp b/src/modules/events/temperature_calibration/task.cpp index 6a021f7918..4fc1a82ef5 100644 --- a/src/modules/events/temperature_calibration/task.cpp +++ b/src/modules/events/temperature_calibration/task.cpp @@ -217,7 +217,7 @@ void TemperatureCalibration::task_main() if (!_gyro) { sensor_gyro_s gyro_data; - for (int i = 0; i < num_gyro; ++i) { + for (unsigned i = 0; i < num_gyro; ++i) { orb_copy(ORB_ID(sensor_gyro), gyro_sub[i], &gyro_data); } } diff --git a/src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp b/src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp index 111f9db160..986e4ae009 100644 --- a/src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp +++ b/src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp @@ -190,7 +190,7 @@ void BlockLocalPositionEstimator::update() if (!armedState && (_sub_lidar == nullptr || _sub_sonar == nullptr)) { // detect distance sensors - for (int i = 0; i < N_DIST_SUBS; i++) { + for (size_t i = 0; i < N_DIST_SUBS; i++) { uORB::Subscription *s = _dist_subs[i]; if (s == _sub_lidar || s == _sub_sonar) { continue; } diff --git a/src/modules/local_position_estimator/CMakeLists.txt b/src/modules/local_position_estimator/CMakeLists.txt index a7da3342ae..f87fb1d1fd 100644 --- a/src/modules/local_position_estimator/CMakeLists.txt +++ b/src/modules/local_position_estimator/CMakeLists.txt @@ -34,7 +34,6 @@ px4_add_module( MODULE modules__local_position_estimator MAIN local_position_estimator COMPILE_FLAGS - -Wno-sign-compare # TODO: fix all sign-compare -Wno-double-promotion # TODO: fix in Matrix library Vector::pow() STACK_MAIN 5700 STACK_MAX 13000 diff --git a/src/modules/logger/CMakeLists.txt b/src/modules/logger/CMakeLists.txt index 331d788fd7..be436bcf78 100644 --- a/src/modules/logger/CMakeLists.txt +++ b/src/modules/logger/CMakeLists.txt @@ -37,7 +37,6 @@ px4_add_module( PRIORITY "SCHED_PRIORITY_MAX-30" STACK_MAIN 2200 COMPILE_FLAGS - -Wno-sign-compare # TODO: fix all sign-compare SRCS logger.cpp log_writer.cpp diff --git a/src/modules/logger/logger.cpp b/src/modules/logger/logger.cpp index 9751365452..a100f848a7 100644 --- a/src/modules/logger/logger.cpp +++ b/src/modules/logger/logger.cpp @@ -888,7 +888,8 @@ void Logger::run() } //all topics added. Get required message buffer size - int max_msg_size = 0, ret; + int max_msg_size = 0; + int ret = 0; for (const auto &subscription : _subscriptions) { //use o_size, because that's what orb_copy will use @@ -899,7 +900,7 @@ void Logger::run() max_msg_size += sizeof(ulog_message_data_header_s); - if (sizeof(ulog_message_logging_s) > max_msg_size) { + if (sizeof(ulog_message_logging_s) > (size_t)max_msg_size) { max_msg_size = sizeof(ulog_message_logging_s); } @@ -1161,7 +1162,7 @@ void Logger::run() /* subscription update */ if (next_subscribe_topic_index != -1) { - if (++next_subscribe_topic_index >= _subscriptions.size()) { + if (++next_subscribe_topic_index >= (int)_subscriptions.size()) { next_subscribe_topic_index = -1; next_subscribe_check = loop_time + TRY_SUBSCRIBE_INTERVAL; } @@ -1199,7 +1200,7 @@ void Logger::run() try_to_subscribe_topic(_subscriptions[next_subscribe_topic_index], instance); } } - if (++next_subscribe_topic_index >= _subscriptions.size()) { + if (++next_subscribe_topic_index >= (int)_subscriptions.size()) { next_subscribe_topic_index = -1; next_subscribe_check = loop_time + TRY_SUBSCRIBE_INTERVAL; } @@ -1310,7 +1311,7 @@ int Logger::create_log_dir(tm *tt) if (tt) { int n = snprintf(_log_dir, sizeof(_log_dir), "%s/", LOG_ROOT); - if (n >= sizeof(_log_dir)) { + if (n >= (int)sizeof(_log_dir)) { PX4_ERR("log path too long"); return -1; } @@ -1331,7 +1332,7 @@ int Logger::create_log_dir(tm *tt) /* format log dir: e.g. /fs/microsd/sess001 */ int n = snprintf(_log_dir, sizeof(_log_dir), "%s/sess%03u", LOG_ROOT, dir_number); - if (n >= sizeof(_log_dir)) { + if (n >= (int)sizeof(_log_dir)) { PX4_ERR("log path too long (%i)", n); return -1; } @@ -2149,7 +2150,7 @@ int Logger::check_free_space() day_min); } - if (n >= sizeof(directory_to_delete)) { + if (n >= (int)sizeof(directory_to_delete)) { PX4_ERR("log path too long (%i)", n); break; } diff --git a/src/modules/mavlink/CMakeLists.txt b/src/modules/mavlink/CMakeLists.txt index 9e3b7cdee2..0f575202ea 100644 --- a/src/modules/mavlink/CMakeLists.txt +++ b/src/modules/mavlink/CMakeLists.txt @@ -39,7 +39,6 @@ px4_add_module( STACK_MAIN 1200 STACK_MAX 1500 COMPILE_FLAGS - -Wno-sign-compare # TODO: fix all sign-compare INCLUDES ${PX4_SOURCE_DIR}/mavlink/include/mavlink SRCS diff --git a/src/modules/mavlink/mavlink_log_handler.cpp b/src/modules/mavlink/mavlink_log_handler.cpp index 903737ed87..67fc1d53b0 100644 --- a/src/modules/mavlink/mavlink_log_handler.cpp +++ b/src/modules/mavlink/mavlink_log_handler.cpp @@ -477,7 +477,7 @@ LogListHelper::_init() time_t tt = 0; char log_path[128]; int ret = snprintf(log_path, sizeof(log_path), "%s/%s", kLogRoot, result->d_name); - bool path_is_ok = (ret > 0) && (ret < sizeof(log_path)); + bool path_is_ok = (ret > 0) && (ret < (int)sizeof(log_path)); if (path_is_ok) { if (_get_session_date(log_path, result->d_name, tt)) { @@ -539,7 +539,7 @@ LogListHelper::_scan_logs(FILE *f, const char *dir, time_t &date) uint32_t size = 0; char log_file_path[128]; int ret = snprintf(log_file_path, sizeof(log_file_path), "%s/%s", dir, result->d_name); - bool path_is_ok = (ret > 0) && (ret < sizeof(log_file_path)); + bool path_is_ok = (ret > 0) && (ret < (int)sizeof(log_file_path)); if (path_is_ok) { if (_get_log_time_size(log_file_path, result->d_name, ldate, size)) { @@ -609,7 +609,7 @@ LogListHelper::delete_all(const char *dir) if (result->d_type == PX4LOG_DIRECTORY && result->d_name[0] != '.') { char log_path[128]; int ret = snprintf(log_path, sizeof(log_path), "%s/%s", dir, result->d_name); - bool path_is_ok = (ret > 0) && (ret < sizeof(log_path)); + bool path_is_ok = (ret > 0) && (ret < (int)sizeof(log_path)); if (path_is_ok) { LogListHelper::delete_all(log_path); @@ -623,7 +623,7 @@ LogListHelper::delete_all(const char *dir) if (result->d_type == PX4LOG_REGULAR_FILE) { char log_path[128]; int ret = snprintf(log_path, sizeof(log_path), "%s/%s", dir, result->d_name); - bool path_is_ok = (ret > 0) && (ret < sizeof(log_path)); + bool path_is_ok = (ret > 0) && (ret < (int)sizeof(log_path)); if (path_is_ok) { if (unlink(log_path)) { diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp index e6a6454693..fc4063ccd6 100644 --- a/src/modules/mavlink/mavlink_main.cpp +++ b/src/modules/mavlink/mavlink_main.cpp @@ -115,7 +115,7 @@ extern mavlink_system_t mavlink_system; void mavlink_send_uart_bytes(mavlink_channel_t chan, const uint8_t *ch, int length) { - Mavlink *m = Mavlink::get_instance((unsigned)chan); + Mavlink *m = Mavlink::get_instance(chan); if (m != nullptr) { m->send_bytes(ch, length); @@ -131,7 +131,7 @@ void mavlink_send_uart_bytes(mavlink_channel_t chan, const uint8_t *ch, int leng void mavlink_start_uart_send(mavlink_channel_t chan, int length) { - Mavlink *m = Mavlink::get_instance((unsigned)chan); + Mavlink *m = Mavlink::get_instance(chan); if (m != nullptr) { (void)m->begin_send(); @@ -143,7 +143,7 @@ void mavlink_start_uart_send(mavlink_channel_t chan, int length) void mavlink_end_uart_send(mavlink_channel_t chan, int length) { - Mavlink *m = Mavlink::get_instance((unsigned)chan); + Mavlink *m = Mavlink::get_instance(chan); if (m != nullptr) { (void)m->send_packet(); @@ -158,7 +158,7 @@ void mavlink_end_uart_send(mavlink_channel_t chan, int length) */ mavlink_status_t *mavlink_get_channel_status(uint8_t channel) { - Mavlink *m = Mavlink::get_instance((unsigned)channel); + Mavlink *m = Mavlink::get_instance(channel); if (m != nullptr) { return m->get_status(); @@ -173,7 +173,7 @@ mavlink_status_t *mavlink_get_channel_status(uint8_t channel) */ mavlink_message_t *mavlink_get_channel_buffer(uint8_t channel) { - Mavlink *m = Mavlink::get_instance((unsigned)channel); + Mavlink *m = Mavlink::get_instance(channel); if (m != nullptr) { return m->get_buffer(); @@ -386,7 +386,7 @@ Mavlink::instance_count() } Mavlink * -Mavlink::get_instance(unsigned instance) +Mavlink::get_instance(int instance) { Mavlink *inst; LL_FOREACH(::_mavlink_instances, inst) { @@ -524,8 +524,8 @@ Mavlink::forward_message(const mavlink_message_t *msg, Mavlink *self) const mavlink_msg_entry_t *meta = mavlink_get_msg_entry(msg->msgid); // Extract target system and target component if set - unsigned target_system_id = (meta->target_system_ofs != 0) ? ((uint8_t *)msg)[meta->target_system_ofs] : 0; - unsigned target_component_id = (meta->target_component_ofs != 0) ? ((uint8_t *)msg)[meta->target_component_ofs] : 233; + int target_system_id = (meta->target_system_ofs != 0) ? ((uint8_t *)msg)[meta->target_system_ofs] : 0; + int target_component_id = (meta->target_component_ofs != 0) ? ((uint8_t *)msg)[meta->target_component_ofs] : 233; // Broadcast or addressing this system and not trying to talk // to the autopilot component -> pass on to other components @@ -1088,7 +1088,7 @@ Mavlink::find_broadcast_address() return; } - size_t offset = 0; + int offset = 0; // Later used to point to next network interface in buffer. struct ifreq *cur_ifreq = (struct ifreq *) & (((uint8_t *)ifconf.ifc_req)[offset]); diff --git a/src/modules/mavlink/mavlink_main.h b/src/modules/mavlink/mavlink_main.h index 7d3d6a55f9..4b069ea03b 100644 --- a/src/modules/mavlink/mavlink_main.h +++ b/src/modules/mavlink/mavlink_main.h @@ -120,7 +120,7 @@ public: static Mavlink *new_instance(); - static Mavlink *get_instance(unsigned instance); + static Mavlink *get_instance(int instance); static Mavlink *get_instance_for_device(const char *device_name); @@ -510,9 +510,9 @@ private: orb_advert_t _mavlink_log_pub; bool _task_running; static bool _boot_complete; - static constexpr unsigned MAVLINK_MAX_INSTANCES = 4; - static constexpr unsigned MAVLINK_MIN_INTERVAL = 1500; - static constexpr unsigned MAVLINK_MAX_INTERVAL = 10000; + static constexpr int MAVLINK_MAX_INSTANCES = 4; + static constexpr int MAVLINK_MIN_INTERVAL = 1500; + static constexpr int MAVLINK_MAX_INTERVAL = 10000; static constexpr float MAVLINK_MIN_MULTIPLIER = 0.0005f; mavlink_message_t _mavlink_buffer; mavlink_status_t _mavlink_status; diff --git a/src/modules/mavlink/mavlink_tests/CMakeLists.txt b/src/modules/mavlink/mavlink_tests/CMakeLists.txt index 855589c84d..225806aaf0 100644 --- a/src/modules/mavlink/mavlink_tests/CMakeLists.txt +++ b/src/modules/mavlink/mavlink_tests/CMakeLists.txt @@ -38,7 +38,6 @@ px4_add_module( MAIN mavlink_tests STACK_MAIN 5000 COMPILE_FLAGS - -Wno-sign-compare # TODO: fix all sign-compare -DMAVLINK_FTP_UNIT_TEST #-DMAVLINK_FTP_DEBUG -DMavlinkStream=MavlinkStreamTest diff --git a/src/modules/replay/CMakeLists.txt b/src/modules/replay/CMakeLists.txt index 02ba5e40a5..53655e2974 100644 --- a/src/modules/replay/CMakeLists.txt +++ b/src/modules/replay/CMakeLists.txt @@ -34,7 +34,6 @@ px4_add_module( MODULE modules__replay MAIN replay COMPILE_FLAGS - -Wno-sign-compare # TODO: fix all sign-compare STACK_MAIN 1000 STACK_MAX 4000 SRCS diff --git a/src/modules/replay/replay.hpp b/src/modules/replay/replay.hpp index be20f9db6d..1f8da181c1 100644 --- a/src/modules/replay/replay.hpp +++ b/src/modules/replay/replay.hpp @@ -219,7 +219,7 @@ private: /** keep track of file position to avoid adding a subscription multiple times. */ std::streampos _subscription_file_pos = 0; - uint64_t _read_until_file_position = 1ULL << 60; ///< read limit if log contains appended data + int64_t _read_until_file_position = 1ULL << 60; ///< read limit if log contains appended data bool readFileHeader(std::ifstream &file); diff --git a/src/modules/sensors/CMakeLists.txt b/src/modules/sensors/CMakeLists.txt index 45f18f6df1..4b20b9750c 100644 --- a/src/modules/sensors/CMakeLists.txt +++ b/src/modules/sensors/CMakeLists.txt @@ -37,7 +37,6 @@ px4_add_module( PRIORITY "SCHED_PRIORITY_MAX-5" STACK_MAIN 1300 COMPILE_FLAGS - -Wno-sign-compare # TODO: fix all sign-compare SRCS voted_sensors_update.cpp rc_update.cpp diff --git a/src/modules/sensors/temperature_compensation.cpp b/src/modules/sensors/temperature_compensation.cpp index aa4820f4c7..cb272b1cf3 100644 --- a/src/modules/sensors/temperature_compensation.cpp +++ b/src/modules/sensors/temperature_compensation.cpp @@ -368,7 +368,7 @@ int TemperatureCompensation::set_sensor_id(uint32_t device_id, int topic_instanc const T *sensor_cal_data, uint8_t sensor_count_max) { for (int i = 0; i < sensor_count_max; ++i) { - if (device_id == sensor_cal_data[i].ID) { + if (device_id == (uint32_t)sensor_cal_data[i].ID) { sensor_data.device_mapping[topic_instance] = i; return i; } diff --git a/src/modules/sensors/voted_sensors_update.cpp b/src/modules/sensors/voted_sensors_update.cpp index bdeb00abcb..aa3d47f682 100644 --- a/src/modules/sensors/voted_sensors_update.cpp +++ b/src/modules/sensors/voted_sensors_update.cpp @@ -111,19 +111,19 @@ void VotedSensorsUpdate::initialize_sensors() void VotedSensorsUpdate::deinit() { - for (unsigned i = 0; i < _gyro.subscription_count; i++) { + for (int i = 0; i < _gyro.subscription_count; i++) { orb_unsubscribe(_gyro.subscription[i]); } - for (unsigned i = 0; i < _accel.subscription_count; i++) { + for (int i = 0; i < _accel.subscription_count; i++) { orb_unsubscribe(_accel.subscription[i]); } - for (unsigned i = 0; i < _mag.subscription_count; i++) { + for (int i = 0; i < _mag.subscription_count; i++) { orb_unsubscribe(_mag.subscription[i]); } - for (unsigned i = 0; i < _baro.subscription_count; i++) { + for (int i = 0; i < _baro.subscription_count; i++) { orb_unsubscribe(_baro.subscription[i]); } } @@ -151,7 +151,7 @@ void VotedSensorsUpdate::parameters_update() _temperature_compensation.parameters_update(); /* gyro */ - for (unsigned topic_instance = 0; topic_instance < GYRO_COUNT_MAX; ++topic_instance) { + for (int topic_instance = 0; topic_instance < GYRO_COUNT_MAX; ++topic_instance) { if (topic_instance < _gyro.subscription_count) { // valid subscription, so get the driver id by getting the published sensor data @@ -175,7 +175,7 @@ void VotedSensorsUpdate::parameters_update() /* accel */ - for (unsigned topic_instance = 0; topic_instance < ACCEL_COUNT_MAX; ++topic_instance) { + for (int topic_instance = 0; topic_instance < ACCEL_COUNT_MAX; ++topic_instance) { if (topic_instance < _accel.subscription_count) { // valid subscription, so get the driver id by getting the published sensor data @@ -198,7 +198,7 @@ void VotedSensorsUpdate::parameters_update() } /* baro */ - for (unsigned topic_instance = 0; topic_instance < BARO_COUNT_MAX; ++topic_instance) { + for (int topic_instance = 0; topic_instance < BARO_COUNT_MAX; ++topic_instance) { if (topic_instance < _baro.subscription_count) { // valid subscription, so get the driver id by getting the published sensor data @@ -250,7 +250,7 @@ void VotedSensorsUpdate::parameters_update() failed = false; (void)sprintf(str, "CAL_GYRO%u_ID", i); - int32_t device_id; + int32_t device_id = 0; failed = failed || (OK != param_get(param_find(str), &device_id)); (void)sprintf(str, "CAL_GYRO%u_EN", i); @@ -268,7 +268,7 @@ void VotedSensorsUpdate::parameters_update() } /* if the calibration is for this device, apply it */ - if (device_id == driver_device_id) { + if ((uint32_t)device_id == driver_device_id) { struct gyro_calibration_s gscale = {}; (void)sprintf(str, "CAL_GYRO%u_XOFF", i); failed = failed || (OK != param_get(param_find(str), &gscale.x_offset)); @@ -338,7 +338,7 @@ void VotedSensorsUpdate::parameters_update() failed = false; (void)sprintf(str, "CAL_ACC%u_ID", i); - int32_t device_id; + int32_t device_id = 0; failed = failed || (OK != param_get(param_find(str), &device_id)); (void)sprintf(str, "CAL_ACC%u_EN", i); @@ -356,7 +356,7 @@ void VotedSensorsUpdate::parameters_update() } /* if the calibration is for this device, apply it */ - if (device_id == driver_device_id) { + if ((uint32_t)device_id == driver_device_id) { struct accel_calibration_s ascale = {}; (void)sprintf(str, "CAL_ACC%u_XOFF", i); failed = failed || (OK != param_get(param_find(str), &ascale.x_offset)); @@ -409,8 +409,8 @@ void VotedSensorsUpdate::parameters_update() * Because we store the device id in _mag_device_id, we need to get the id via uorb topic since * the DevHandle method does not work on POSIX. */ - for (unsigned topic_instance = 0; topic_instance < MAG_COUNT_MAX && topic_instance < _mag.subscription_count; - ++topic_instance) { + for (int topic_instance = 0; topic_instance < MAG_COUNT_MAX + && topic_instance < _mag.subscription_count; ++topic_instance) { struct mag_report report; @@ -454,7 +454,7 @@ void VotedSensorsUpdate::parameters_update() failed = false; (void)sprintf(str, "CAL_MAG%u_ID", i); - int32_t device_id; + int32_t device_id = 0; failed = failed || (OK != param_get(param_find(str), &device_id)); (void)sprintf(str, "CAL_MAG%u_EN", i); @@ -468,7 +468,7 @@ void VotedSensorsUpdate::parameters_update() } /* if the calibration is for this device, apply it */ - if (device_id == _mag_device_id[topic_instance]) { + if ((uint32_t)device_id == _mag_device_id[topic_instance]) { struct mag_calibration_s mscale = {}; (void)sprintf(str, "CAL_MAG%u_XOFF", i); failed = failed || (OK != param_get(param_find(str), &mscale.x_offset)); @@ -540,7 +540,7 @@ void VotedSensorsUpdate::accel_poll(struct sensor_combined_s &raw) float *offsets[] = {_corrections.accel_offset_0, _corrections.accel_offset_1, _corrections.accel_offset_2 }; float *scales[] = {_corrections.accel_scale_0, _corrections.accel_scale_1, _corrections.accel_scale_2 }; - for (unsigned uorb_index = 0; uorb_index < _accel.subscription_count; uorb_index++) { + for (int uorb_index = 0; uorb_index < _accel.subscription_count; uorb_index++) { bool accel_updated; orb_check(_accel.subscription[uorb_index], &accel_updated); @@ -645,7 +645,7 @@ void VotedSensorsUpdate::gyro_poll(struct sensor_combined_s &raw) float *offsets[] = {_corrections.gyro_offset_0, _corrections.gyro_offset_1, _corrections.gyro_offset_2 }; float *scales[] = {_corrections.gyro_scale_0, _corrections.gyro_scale_1, _corrections.gyro_scale_2 }; - for (unsigned uorb_index = 0; uorb_index < _gyro.subscription_count; uorb_index++) { + for (int uorb_index = 0; uorb_index < _gyro.subscription_count; uorb_index++) { bool gyro_updated; orb_check(_gyro.subscription[uorb_index], &gyro_updated); @@ -748,7 +748,7 @@ void VotedSensorsUpdate::gyro_poll(struct sensor_combined_s &raw) void VotedSensorsUpdate::mag_poll(vehicle_magnetometer_s &magnetometer) { - for (unsigned uorb_index = 0; uorb_index < _mag.subscription_count; uorb_index++) { + for (int uorb_index = 0; uorb_index < _mag.subscription_count; uorb_index++) { bool mag_updated; orb_check(_mag.subscription[uorb_index], &mag_updated); @@ -800,7 +800,7 @@ void VotedSensorsUpdate::baro_poll(vehicle_air_data_s &airdata) float *offsets[] = {&_corrections.baro_offset_0, &_corrections.baro_offset_1, &_corrections.baro_offset_2 }; float *scales[] = {&_corrections.baro_scale_0, &_corrections.baro_scale_1, &_corrections.baro_scale_2 }; - for (unsigned uorb_index = 0; uorb_index < _baro.subscription_count; uorb_index++) { + for (int uorb_index = 0; uorb_index < _baro.subscription_count; uorb_index++) { bool baro_updated; orb_check(_baro.subscription[uorb_index], &baro_updated); @@ -1115,7 +1115,7 @@ VotedSensorsUpdate::calc_accel_inconsistency(sensor_preflight_s &preflt) unsigned check_index = 0; // the number of sensors the primary has been checked against // Check each sensor against the primary - for (unsigned sensor_index = 0; sensor_index < _accel.subscription_count; sensor_index++) { + for (int sensor_index = 0; sensor_index < _accel.subscription_count; sensor_index++) { // check that the sensor we are checking against is not the same as the primary if ((_accel.priority[sensor_index] > 0) && (sensor_index != _accel.last_best_vote)) { @@ -1164,7 +1164,7 @@ void VotedSensorsUpdate::calc_gyro_inconsistency(sensor_preflight_s &preflt) unsigned check_index = 0; // the number of sensors the primary has been checked against // Check each sensor against the primary - for (unsigned sensor_index = 0; sensor_index < _gyro.subscription_count; sensor_index++) { + for (int sensor_index = 0; sensor_index < _gyro.subscription_count; sensor_index++) { // check that the sensor we are checking against is not the same as the primary if ((_gyro.priority[sensor_index] > 0) && (sensor_index != _gyro.last_best_vote)) { @@ -1213,7 +1213,7 @@ void VotedSensorsUpdate::calc_mag_inconsistency(sensor_preflight_s &preflt) unsigned check_index = 0; // the number of sensors the primary has been checked against // Check each sensor against the primary - for (unsigned sensor_index = 0; sensor_index < _mag.subscription_count; sensor_index++) { + for (int sensor_index = 0; sensor_index < _mag.subscription_count; sensor_index++) { // check that the sensor we are checking against is not the same as the primary if ((_mag.priority[sensor_index] > 0) && (sensor_index != _mag.last_best_vote)) { diff --git a/src/modules/simulator/airspeedsim/airspeedsim.cpp b/src/modules/simulator/airspeedsim/airspeedsim.cpp index bba7b97591..7b5552d1ec 100644 --- a/src/modules/simulator/airspeedsim/airspeedsim.cpp +++ b/src/modules/simulator/airspeedsim/airspeedsim.cpp @@ -211,7 +211,7 @@ AirspeedSim::ioctl(device::file_t *filp, int cmd, unsigned long arg) bool want_start = (_measure_ticks == 0); /* convert hz to tick interval via microseconds */ - unsigned long ticks = USEC2TICK(1000000 / arg); + int ticks = USEC2TICK(1000000 / arg); /* check against maximum rate */ if (ticks < USEC2TICK(_conversion_interval)) { diff --git a/src/modules/simulator/airspeedsim/airspeedsim.h b/src/modules/simulator/airspeedsim/airspeedsim.h index 88495c8d7a..7bb3d11187 100644 --- a/src/modules/simulator/airspeedsim/airspeedsim.h +++ b/src/modules/simulator/airspeedsim/airspeedsim.h @@ -117,7 +117,7 @@ protected: struct work_s _work; bool _sensor_ok; - unsigned _measure_ticks; + int _measure_ticks; bool _collect_phase; float _diff_pres_offset; @@ -125,7 +125,7 @@ protected: int _class_instance; - unsigned _conversion_interval; + int _conversion_interval; perf_counter_t _sample_perf; perf_counter_t _comms_errors; diff --git a/src/modules/systemlib/CMakeLists.txt b/src/modules/systemlib/CMakeLists.txt index 9174cbcfb6..0427d42f1c 100644 --- a/src/modules/systemlib/CMakeLists.txt +++ b/src/modules/systemlib/CMakeLists.txt @@ -53,7 +53,6 @@ endif() # TODO: find a better way to do this if (NOT "${CONFIG}" MATCHES "px4io") px4_add_library(systemlib ${SRCS}) - target_compile_options(systemlib PRIVATE -Wno-sign-compare) else() add_library(systemlib ${PX4_SOURCE_DIR}/src/platforms/empty.c) add_dependencies(systemlib prebuild_targets) diff --git a/src/modules/uORB/uORB_tests/CMakeLists.txt b/src/modules/uORB/uORB_tests/CMakeLists.txt index 73bbdaf78b..fc1a76ea4d 100644 --- a/src/modules/uORB/uORB_tests/CMakeLists.txt +++ b/src/modules/uORB/uORB_tests/CMakeLists.txt @@ -45,7 +45,6 @@ px4_add_module( MAIN uorb_tests STACK_MAIN 2048 COMPILE_FLAGS - -Wno-sign-compare # TODO: fix all sign-compare SRCS ${SRCS} DEPENDS ) diff --git a/src/modules/uORB/uORB_tests/uORBTest_UnitTest.cpp b/src/modules/uORB/uORB_tests/uORBTest_UnitTest.cpp index e7453d1ec2..0fbf24a19e 100644 --- a/src/modules/uORB/uORB_tests/uORBTest_UnitTest.cpp +++ b/src/modules/uORB/uORB_tests/uORBTest_UnitTest.cpp @@ -610,7 +610,7 @@ int uORBTest::UnitTest::test_queue() } - const unsigned int queue_size = 11; + const int queue_size = 11; t.val = 0; ptopic = orb_advertise_queue(ORB_ID(orb_test_medium_queue), &t, queue_size); @@ -658,12 +658,12 @@ int uORBTest::UnitTest::test_queue() test_note(" Testing to write some elements..."); - for (unsigned int i = 0; i < queue_size - 2; ++i) { + for (int i = 0; i < queue_size - 2; ++i) { t.val = i; orb_publish(ORB_ID(orb_test_medium_queue), ptopic, &t); } - for (unsigned int i = 0; i < queue_size - 2; ++i) { + for (int i = 0; i < queue_size - 2; ++i) { CHECK_UPDATED(i); CHECK_COPY(u.val, i); } @@ -673,12 +673,12 @@ int uORBTest::UnitTest::test_queue() test_note(" Testing overflow..."); int overflow_by = 3; - for (unsigned int i = 0; i < queue_size + overflow_by; ++i) { + for (int i = 0; i < queue_size + overflow_by; ++i) { t.val = i; orb_publish(ORB_ID(orb_test_medium_queue), ptopic, &t); } - for (unsigned int i = 0; i < queue_size; ++i) { + for (int i = 0; i < queue_size; ++i) { CHECK_UPDATED(i); CHECK_COPY(u.val, i + overflow_by); } @@ -687,7 +687,7 @@ int uORBTest::UnitTest::test_queue() test_note(" Testing underflow..."); - for (unsigned int i = 0; i < queue_size; ++i) { + for (int i = 0; i < queue_size; ++i) { CHECK_NOT_UPDATED(i); CHECK_COPY(u.val, queue_size + overflow_by - 1); } @@ -717,7 +717,7 @@ int uORBTest::UnitTest::pub_test_queue_main() { struct orb_test_medium t; orb_advert_t ptopic; - const unsigned int queue_size = 50; + const int queue_size = 50; t.val = 0; if ((ptopic = orb_advertise_queue(ORB_ID(orb_test_medium_queue_poll), &t, queue_size)) == nullptr) { diff --git a/src/modules/uavcanesc/CMakeLists.txt b/src/modules/uavcanesc/CMakeLists.txt index d0028349b4..e9f94456af 100644 --- a/src/modules/uavcanesc/CMakeLists.txt +++ b/src/modules/uavcanesc/CMakeLists.txt @@ -71,7 +71,6 @@ px4_add_module( COMPILE_FLAGS -Wno-deprecated-declarations -O3 - -Wno-sign-compare SRCS uavcanesc_main.cpp indication_controller.cpp diff --git a/src/platforms/px4_defines.h b/src/platforms/px4_defines.h index 5f62fe2af6..fd5249f092 100644 --- a/src/platforms/px4_defines.h +++ b/src/platforms/px4_defines.h @@ -167,7 +167,7 @@ using ::isfinite; /* FIXME - Used to satisfy build */ #define getreg32(a) (*(volatile uint32_t *)(a)) -#define USEC_PER_TICK (1000000UL/PX4_TICKS_PER_SEC) +#define USEC_PER_TICK (1000000/PX4_TICKS_PER_SEC) #define USEC2TICK(x) (((x)+(USEC_PER_TICK/2))/USEC_PER_TICK) #define px4_statfs_buf_f_bavail_t unsigned long diff --git a/src/systemcmds/motor_ramp/CMakeLists.txt b/src/systemcmds/motor_ramp/CMakeLists.txt index 755f033b3a..cf816ff1ef 100644 --- a/src/systemcmds/motor_ramp/CMakeLists.txt +++ b/src/systemcmds/motor_ramp/CMakeLists.txt @@ -35,7 +35,6 @@ px4_add_module( MAIN motor_ramp STACK_MAIN 1200 COMPILE_FLAGS - -Wno-sign-compare # TODO: fix all sign-compare -Wno-write-strings SRCS motor_ramp.cpp diff --git a/src/systemcmds/motor_ramp/motor_ramp.cpp b/src/systemcmds/motor_ramp/motor_ramp.cpp index 9f4fa1de2b..a7b0a4a882 100644 --- a/src/systemcmds/motor_ramp/motor_ramp.cpp +++ b/src/systemcmds/motor_ramp/motor_ramp.cpp @@ -91,11 +91,11 @@ extern "C" __EXPORT int motor_ramp_main(int argc, char *argv[]); */ int motor_ramp_thread_main(int argc, char *argv[]); -bool min_pwm_valid(unsigned pwm_value); +bool min_pwm_valid(int pwm_value); -bool max_pwm_valid(unsigned pwm_value); +bool max_pwm_valid(int pwm_value); -int set_min_pwm(int fd, unsigned long max_channels, unsigned pwm_value); +int set_min_pwm(int fd, unsigned long max_channels, int pwm_value); int set_out(int fd, unsigned long max_channels, float output); @@ -212,17 +212,17 @@ int motor_ramp_main(int argc, char *argv[]) return 0; } -bool min_pwm_valid(unsigned pwm_value) +bool min_pwm_valid(int pwm_value) { return pwm_value >= 900 && pwm_value <= 1500; } -bool max_pwm_valid(unsigned pwm_value) +bool max_pwm_valid(int pwm_value) { return pwm_value <= 2100 && pwm_value > _min_pwm; } -int set_min_pwm(int fd, unsigned long max_channels, unsigned pwm_value) +int set_min_pwm(int fd, unsigned long max_channels, int pwm_value) { int ret; @@ -231,7 +231,7 @@ int set_min_pwm(int fd, unsigned long max_channels, unsigned pwm_value) pwm_values.channel_count = max_channels; - for (int i = 0; i < max_channels; i++) { + for (unsigned i = 0; i < max_channels; i++) { pwm_values.values[i] = pwm_value; } diff --git a/src/systemcmds/sd_bench/CMakeLists.txt b/src/systemcmds/sd_bench/CMakeLists.txt index 12134ca677..86a3820269 100644 --- a/src/systemcmds/sd_bench/CMakeLists.txt +++ b/src/systemcmds/sd_bench/CMakeLists.txt @@ -35,7 +35,6 @@ px4_add_module( MAIN sd_bench STACK_MAIN 2500 COMPILE_FLAGS - -Wno-sign-compare # TODO: fix all sign-compare SRCS sd_bench.c DEPENDS diff --git a/src/systemcmds/sd_bench/sd_bench.c b/src/systemcmds/sd_bench/sd_bench.c index 0e490f1c41..465b7d6124 100644 --- a/src/systemcmds/sd_bench/sd_bench.c +++ b/src/systemcmds/sd_bench/sd_bench.c @@ -173,7 +173,7 @@ void write_test(int fd, uint8_t *block, int block_size) unsigned int max_write_time = 0; unsigned int fsync_time = 0; - while (hrt_elapsed_time(&start) < run_duration * 1000) { + while ((int64_t)hrt_elapsed_time(&start) < run_duration * 1000) { hrt_abstime write_start = hrt_absolute_time(); size_t written = write(fd, block, block_size);