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

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This commit is contained in:
Valentin Bugrov
2026-04-05 13:27:32 +07:00
committed by Ramon Roche
parent d2ad2b52b5
commit d665d64df2
2 changed files with 30 additions and 16 deletions
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src/drivers/ins/vectornav/VectorNav.cpp
+26 -9
View File
@@ -504,7 +504,9 @@ bool VectorNav::init()
VnError error = E_NONE;
// change baudrate to max
if ((error = VnSensor_changeBaudrate(&_vs, DESIRED_BAUDRATE)) != E_NONE) {
error = VnSensor_changeBaudrate(&_vs, DESIRED_BAUDRATE);
if (error != E_NONE) {
PX4_ERR("Error changing baud rate failed: %d", error);
VnSensor_disconnect(&_vs);
return false;
@@ -513,7 +515,9 @@ bool VectorNav::init()
// query the sensor's model number
char model_number[30] {};
if ((error = VnSensor_readModelNumber(&_vs, model_number, sizeof(model_number))) != E_NONE) {
error = VnSensor_readModelNumber(&_vs, model_number, sizeof(model_number));
if (error != E_NONE) {
PX4_ERR("Error reading model number %d", error);
VnSensor_disconnect(&_vs);
return false;
@@ -522,7 +526,9 @@ bool VectorNav::init()
// query the sensor's hardware revision
uint32_t hardware_revision = 0;
if ((error = VnSensor_readHardwareRevision(&_vs, &hardware_revision)) != E_NONE) {
error = VnSensor_readHardwareRevision(&_vs, &hardware_revision);
if (error != E_NONE) {
PX4_ERR("Error reading HW revision %d", error);
VnSensor_disconnect(&_vs);
return false;
@@ -531,7 +537,9 @@ bool VectorNav::init()
// query the sensor's serial number
uint32_t serial_number = 0;
if ((error = VnSensor_readSerialNumber(&_vs, &serial_number)) != E_NONE) {
error = VnSensor_readSerialNumber(&_vs, &serial_number);
if (error != E_NONE) {
PX4_ERR("Error reading serial number %d", error);
VnSensor_disconnect(&_vs);
return false;
@@ -540,7 +548,9 @@ bool VectorNav::init()
// query the sensor's firmware version
char firmware_version[30] {};
if ((error = VnSensor_readFirmwareVersion(&_vs, firmware_version, sizeof(firmware_version))) != E_NONE) {
error = VnSensor_readFirmwareVersion(&_vs, firmware_version, sizeof(firmware_version));
if (error != E_NONE) {
PX4_ERR("Error reading firmware version %d", error);
VnSensor_disconnect(&_vs);
return false;
@@ -623,7 +633,9 @@ bool VectorNav::configure()
GPSGROUP_NONE
);
if ((error = VnSensor_writeBinaryOutput1(&_vs, &_binary_output_group_1, true)) != E_NONE) {
error = VnSensor_writeBinaryOutput1(&_vs, &_binary_output_group_1, true);
if (error != E_NONE) {
// char buffer[128]{};
// strFromVnError((char*)buffer, error);
@@ -646,7 +658,9 @@ bool VectorNav::configure()
GPSGROUP_NONE
);
if ((error = VnSensor_writeBinaryOutput2(&_vs, &_binary_output_group_2, true)) != E_NONE) {
error = VnSensor_writeBinaryOutput2(&_vs, &_binary_output_group_2, true);
if (error != E_NONE) {
PX4_ERR("Error writing binary output 2 %d", error);
return false;
}
@@ -666,7 +680,9 @@ bool VectorNav::configure()
GPSGROUP_NONE
);
if ((error = VnSensor_writeBinaryOutput3(&_vs, &_binary_output_group_3, true)) != E_NONE) {
error = VnSensor_writeBinaryOutput3(&_vs, &_binary_output_group_3, true);
if (error != E_NONE) {
PX4_ERR("Error writing binary output 3 %d", error);
//return false;
}
@@ -719,7 +735,7 @@ void VectorNav::Run()
const hrt_abstime time_last_valid_imu_us = _time_last_valid_imu_us.load();
if (_param_vn_mode.get() == 1) {
if ((time_last_valid_imu_us != 0) && (hrt_elapsed_time(&time_last_valid_imu_us) < 3_s))
if ((time_last_valid_imu_us != 0) && (hrt_elapsed_time(&time_last_valid_imu_us) < 3_s)) {
// update sensor_selection if configured in INS mode
if ((_px4_accel.get_device_id() != 0) && (_px4_gyro.get_device_id() != 0)) {
@@ -729,6 +745,7 @@ void VectorNav::Run()
sensor_selection.timestamp = hrt_absolute_time();
_sensor_selection_pub.publish(sensor_selection);
}
}
}
if ((time_configured_us != 0) && (hrt_elapsed_time(&time_last_valid_imu_us) > 5_s)
src/drivers/ins/vectornav/VectorNav.hpp
+4 -7
View File
@@ -59,7 +59,6 @@ extern "C" {
#include <lib/geo/geo.h>
#include <lib/perf/perf_counter.h>
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/module.h>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
#include <uORB/Publication.hpp>
#include <uORB/SubscriptionInterval.hpp>
@@ -96,7 +95,6 @@ public:
int print_status() override;
private:
bool init();
bool configure();
@@ -109,6 +107,10 @@ private:
void sensorCallback(VnUartPacket *packet);
private:
DEFINE_PARAMETERS(
(ParamInt<px4::params::VN_MODE>) _param_vn_mode
)
char _port[20] {};
bool _initialized{false};
@@ -158,7 +160,6 @@ private:
perf_counter_t _local_position_pub_interval_perf{perf_alloc(PC_INTERVAL, MODULE_NAME": local position publish interval")};
perf_counter_t _global_position_pub_interval_perf{perf_alloc(PC_INTERVAL, MODULE_NAME": global position publish interval")};
// TODO: params for GNSS antenna offsets
// A
// B
@@ -180,8 +181,4 @@ private:
// VN_GNSS_ANTB_POS_X
// Uncertainty in the X-axis position measurement.
DEFINE_PARAMETERS(
(ParamInt<px4::params::VN_MODE>) _param_vn_mode
)
};