From d665d64df29814a10be9cbb7a23d055298f20d3b Mon Sep 17 00:00:00 2001 From: Valentin Bugrov Date: Sun, 5 Apr 2026 13:27:32 +0700 Subject: [PATCH] fix(drvers/ins): Fix VectorNav clang-tidy errors --- src/drivers/ins/vectornav/VectorNav.cpp | 35 ++++++++++++++++++------- src/drivers/ins/vectornav/VectorNav.hpp | 11 +++----- 2 files changed, 30 insertions(+), 16 deletions(-) diff --git a/src/drivers/ins/vectornav/VectorNav.cpp b/src/drivers/ins/vectornav/VectorNav.cpp index 29eed67ca5..f720712697 100644 --- a/src/drivers/ins/vectornav/VectorNav.cpp +++ b/src/drivers/ins/vectornav/VectorNav.cpp @@ -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) diff --git a/src/drivers/ins/vectornav/VectorNav.hpp b/src/drivers/ins/vectornav/VectorNav.hpp index 0f062c85bd..2a723acc0c 100644 --- a/src/drivers/ins/vectornav/VectorNav.hpp +++ b/src/drivers/ins/vectornav/VectorNav.hpp @@ -59,7 +59,6 @@ extern "C" { #include #include #include -#include #include #include #include @@ -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) _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) _param_vn_mode - ) };