[build] batch of fixes from CI errors and warnings (#2672)

conf/airframes/ENAC/quadrotor/crazyflie_2.1.xml

@@ -10,6 +10,10 @@
 
     <target name="ap" board="crazyflie_2.1">
       <!--module name="gps" type="datalink"/-->
+      <module name="cf_deck" type="multi_ranger"/>
+      <module name="range_forcefield">
+        <define name="RANGE_FORCEFIELD_MAX_VEL" value="0.1"/>
+      </module>
     </target>
 
     <target name="nps" board="pc">
@@ -44,10 +48,6 @@
       <define name="BMP3_SLAVE_ADDR" value="BMP3_I2C_ADDR_ALT"/>
     </module>
 
-    <module name="cf_deck" type="multi_ranger"/>
-    <module name="range_forcefield">
-      <define name="RANGE_FORCEFIELD_MAX_VEL" value="0.1"/>
-    </module>
     <module name="sonar" type="vl53l1x">
       <define name="SENSOR_SYNC_SEND_SONAR"/>
     </module>

conf/airframes/tudelft/guido_conf.xml

@@ -17,7 +17,7 @@
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_guido_optitrack.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_indi.xml settings/control/rotorcraft_speed.xml"
+   settings="settings/rotorcraft_basic.xml"
    settings_modules="modules/optical_flow_landing.xml modules/video_capture.xml modules/cv_opticflow.xml modules/air_data.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_indi_simple.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
    gui_color="blue"
   />
@@ -28,7 +28,7 @@
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_guido_optitrack.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_indi.xml settings/control/rotorcraft_speed.xml"
+   settings="settings/rotorcraft_basic.xml"
    settings_modules="modules/video_rtp_stream.xml modules/cv_undistort_image.xml modules/video_capture.xml modules/air_data.xml modules/geo_mag.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_indi_simple.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
    gui_color="blue"
   />
@@ -39,7 +39,7 @@
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_indi.xml settings/control/rotorcraft_speed.xml"
+   settings="settings/rotorcraft_basic.xml"
    settings_modules="modules/video_capture.xml modules/cv_opticflow.xml modules/air_data.xml modules/geo_mag.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_indi_simple.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
    gui_color="blue"
   />

conf/modules/control.xml

@@ -12,5 +12,5 @@
   <dep>
     <depends>stabilization_attitude_fw,guidance_basic_fw</depends>
   </dep>
-  <makefile target="ap|sim|nps" firmware="fixedwing"/>
+  <makefile target="ap|sim|nps|hitl" firmware="fixedwing"/>
 </module>

conf/modules/nav_skid_landing.xml

@@ -35,7 +35,7 @@
   <settings>
     <dl_settings>
       <dl_settings NAME="NavSkidLanding">
-        <dl_setting var="v_ctl_landing_throttle_pgain" min="0" step="1" max="1000" shortname="throttle_pgain"/>
+        <dl_setting var="v_ctl_landing_throttle_pgain" min="0" step="1" max="1000" shortname="throttle_pgain" module="guidance/guidance_v"/>
         <dl_setting var="v_ctl_landing_throttle_igain" min="0" step="0.1" max="100" shortname="throttle_igain"/>
         <dl_setting var="v_ctl_landing_throttle_max" min="0" step="0.01" max="1" shortname="throttle_max"/>
         <dl_setting var="v_ctl_landing_desired_speed" min="1" step="1" max="50" shortname="landing_speed"/>

conf/modules/opticflow_pmw3901.xml

@@ -35,7 +35,7 @@
   <init fun="opticflow_pmw3901_init()"/>
   <periodic fun="opticflow_pmw3901_periodic()" freq="100"/>
   <event fun="opticflow_pmw3901_event()"/>
-  <makefile>
+  <makefile target="ap">
     <configure name="OPTICFLOW_PMW3901_SPI_DEV" default="SPI2" case="upper|lower"/>
     <configure name="OPTICFLOW_PMW3901_SPI_SLAVE_IDX" default="1"/>
     <define name="USE_$(OPTICFLOW_PMW3901_SPI_DEV_UPPER)"/>

conf/modules/stabilization_indi.xml

@@ -52,7 +52,7 @@
     </dl_settings>
   </settings>
   <dep>
-    <depends>stabilization_rotorcraft"</depends>
+    <depends>stabilization_rotorcraft</depends>
   </dep>
   <header>
     <file name="stabilization_indi.h"/>

conf/modules/stabilization_rate_indi.xml

@@ -7,10 +7,7 @@
     </description>
   </doc>
   <dep>
-    <depends>stabilization_indi|stabilization_indi_simple</depends>
+    <depends>stabilization_indi|stabilization_indi_simple,stabilization_rotorcraft</depends>
-  </dep>
-  <dep>
-    <depends>stabilization_rotorcraft</depends>
   </dep>
   <header>
     <file name="stabilization_rate_indi.h"/>

conf/userconf/tudelft/conf.xml

@@ -6,7 +6,7 @@
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_optitrack.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_indi.xml"
+   settings="settings/rotorcraft_basic.xml"
    settings_modules="modules/optical_flow_hover.xml [modules/cv_opticflow.xml] modules/ahrs_int_cmpl_quat.xml modules/stabilization_indi_simple.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
    gui_color="red"
    release="ac5eaa8da36b999a135f979e598930a9d40f6401"
@@ -350,7 +350,7 @@
    radio="radios/T14SG_SBUS.xml"
    telemetry="telemetry/default_rotorcraft_slow.xml"
    flight_plan="flight_plans/tudelft/delft_basic.xml"
-   settings="settings/rotorcraft_basic.xml ../conf/modules/px4_flash.xml ../conf/modules/glide_wing_lock.xml"
+   settings="settings/rotorcraft_basic.xml"
    settings_modules="[modules/air_data.xml] modules/geo_mag.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_indi_simple.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps_ubx_ucenter.xml modules/gps.xml modules/imu_common.xml"
    gui_color="#ffffcccaccca"
    release="677c4c77398cfbabffae3efdcafdacfd04a0b9ab"
@@ -541,7 +541,7 @@
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/tudelft/fan_demo.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_speed.xml"
+   settings="settings/rotorcraft_basic.xml"
    settings_modules="modules/air_data.xml [modules/geo_mag.xml] modules/guidance_indi.xml modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_indi.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
    gui_color="#ffffcccaccca"
    release="f580c07814aa1068bf3f6960318b2417fc069cbe"
@@ -553,7 +553,7 @@
    radio="radios/dummy.xml"
    telemetry="telemetry/default_rotorcraft.xml"
    flight_plan="flight_plans/tudelft/rotorcraft_survey_imav2015_competition.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_speed.xml"
+   settings="settings/rotorcraft_basic.xml"
    settings_modules="modules/digital_cam_video.xml modules/video_capture.xml modules/nav_survey_poly_rotorcraft.xml [modules/nav_survey_rectangle_rotorcraft.xml] modules/video_rtp_stream.xml modules/cv_blob_locator.xml modules/air_data.xml [modules/geo_mag.xml] modules/ins_extended.xml modules/ahrs_int_cmpl_quat.xml modules/ahrs_float_mlkf.xml modules/stabilization_indi_simple.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
    gui_color="#68f5eb116e0c"
   />

conf/userconf/tudelft/delfly_conf.xml

@@ -6,7 +6,7 @@
    radio="radios/delfly_Rx31_DEVO10.xml"
    telemetry="telemetry/rotorcraft_with_logger.xml"
    flight_plan="flight_plans/rotorcraft_basic.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/control/stabilization_att_int.xml ../conf/modules/logger_sd_spi_direct.xml"
+   settings="settings/rotorcraft_basic.xml"
    settings_modules="modules/logger_sd_spi_direct.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_int_euler.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
    gui_color="blue"
   />
@@ -17,7 +17,7 @@
    radio="radios/delfly_nimble_Rx31_Devo10.xml"
    telemetry="telemetry/rotorcraft_with_logger.xml"
    flight_plan="flight_plans/tudelft/delfly_nimble_cyberzoo.xml"
-   settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml"
+   settings="settings/rotorcraft_basic.xml"
    settings_modules="modules/logger_sd_spi_direct.xml modules/ahrs_int_cmpl_quat.xml modules/stabilization_int_euler.xml modules/nav_basic_rotorcraft.xml modules/guidance_rotorcraft.xml modules/gps.xml modules/imu_common.xml"
    gui_color="blue"
    release="bd49f8763f106f69dc87ad735c8bd6ff277a3f62"

sw/airborne/modules/computer_vision/colorfilter.c

@@ -56,7 +56,7 @@ volatile int color_count = 0;
 #include "subsystems/abi.h"
 
 // Function
-static struct image_t *colorfilter_func(struct image_t *img, uint8_t camera_id)
+static struct image_t *colorfilter_func(struct image_t *img, uint8_t camera_id __attribute__((unused)))
 {
   // Filter
   color_count = image_yuv422_colorfilt(img, img,

sw/airborne/modules/computer_vision/detect_gate.c

@@ -131,7 +131,7 @@ struct vision_relative_position_struct {
 
 
 // Function
-static struct image_t *detect_gate_func(struct image_t *img, uint8_t camera_id)
+static struct image_t *detect_gate_func(struct image_t *img, uint8_t camera_id __attribute__((unused)))
 {
   // detect the gate and draw it in the image:
   if (just_filtering) {

sw/airborne/modules/computer_vision/video_capture.c

@@ -84,7 +84,7 @@ void video_capture_init(void)
 }
 
 
-struct image_t *video_capture_func(struct image_t *img, uint8_t camera_id)
+struct image_t *video_capture_func(struct image_t *img, uint8_t camera_id __attribute__((unused)))
 {
   // If take_shot bool is set, save the image
   if (video_capture_take_shot || video_capture_record_video) {

sw/airborne/modules/computer_vision/viewvideo.c

@@ -191,7 +191,7 @@ static struct image_t *viewvideo_function(struct UdpSocket *viewvideo_socket, st
 }
 
 #ifdef VIEWVIDEO_CAMERA
-static struct image_t *viewvideo_function1(struct image_t *img, uint8_t camera_id)
+static struct image_t *viewvideo_function1(struct image_t *img, uint8_t camera_id __attribute__((unused)))
 {
   static uint16_t rtp_packet_nr = 0;
   static uint32_t rtp_frame_time = 0;
@@ -202,7 +202,7 @@ static struct image_t *viewvideo_function1(struct image_t *img, uint8_t camera_i
 #endif
 
 #ifdef VIEWVIDEO_CAMERA2
-static struct image_t *viewvideo_function2(struct image_t *img, uint8_t camera_id)
+static struct image_t *viewvideo_function2(struct image_t *img, uint8_t camera_id __attribute__((unused)))
 {
   static uint16_t rtp_packet_nr = 0;
   static uint32_t rtp_frame_time = 0;

sw/airborne/modules/ctrl/optical_flow_landing.c

@@ -168,8 +168,8 @@ static void send_divergence(struct transport_tx *trans, struct link_device *dev)
 /// Callback function of the ground altitude
 void vertical_ctrl_agl_cb(uint8_t sender_id, uint32_t stamp, float distance);
 // Callback function of the optical flow estimate:
-void vertical_ctrl_optical_flow_cb(uint8_t sender_id, uint32_t stamp, int16_t flow_x,
+void vertical_ctrl_optical_flow_cb(uint8_t sender_id, uint32_t stamp, int32_t flow_x,
-                                   int16_t flow_y, int16_t flow_der_x, int16_t flow_der_y, float quality, float size_divergence);
+                                   int32_t flow_y, int32_t flow_der_x, int32_t flow_der_y, float quality, float size_divergence);
 
 // common functions for different landing strategies:
 static void set_cov_div(int32_t thrust);
@@ -597,9 +597,9 @@ void vertical_ctrl_agl_cb(uint8_t sender_id UNUSED, __attribute__((unused)) uint
   of_landing_ctrl.agl = distance;
 }
 
-void vertical_ctrl_optical_flow_cb(uint8_t sender_id UNUSED, uint32_t stamp, int16_t flow_x UNUSED,
+void vertical_ctrl_optical_flow_cb(uint8_t sender_id UNUSED, uint32_t stamp,
-                                   int16_t flow_y UNUSED,
+                                   int32_t flow_x UNUSED, int32_t flow_y UNUSED,
-                                   int16_t flow_der_x UNUSED, int16_t flow_der_y UNUSED, float quality UNUSED, float size_divergence)
+                                   int32_t flow_der_x UNUSED, int32_t flow_der_y UNUSED, float quality UNUSED, float size_divergence)
 {
   divergence_vision = size_divergence;
   vision_time = ((float)stamp) / 1e6;

sw/airborne/modules/lidar/tfmini.c

@@ -49,10 +49,11 @@ static void tfmini_parse(uint8_t byte);
  */
 static void tfmini_send_lidar(struct transport_tx *trans, struct link_device *dev)
 {
+  uint8_t status = (uint8_t) tfmini.parse_status;
   pprz_msg_send_LIDAR(trans, dev, AC_ID,
                       &tfmini.distance,
                       &tfmini.mode,
-                      &tfmini.parse_status);
+                      &status);
 }
 
 #endif

sw/airborne/modules/optical_flow/px4flow.c

@@ -162,7 +162,7 @@ void px4flow_init(void)
 void px4flow_downlink(void)
 {
   static float timestamp = 0;
-  static float distance_quality = 0;
+  static uint8_t distance_quality = 0;
   timestamp = ((float)optical_flow.time_usec) * 0.000001;
   DOWNLINK_SEND_OPTICAL_FLOW(DefaultChannel, DefaultDevice,
                             &timestamp,

sw/airborne/modules/optical_flow/px4flow_i2c.c

@@ -267,7 +267,7 @@ void px4flow_i2c_downlink(void)
   uint8_t id = PX4FLOW_I2C_ID;
 
   float timestamp = get_sys_time_float();
-  static float distance_quality = 0;
+  static uint8_t distance_quality = 0;
 
 #if REQUEST_INT_FRAME
   int32_t flow_x = px4flow.i2c_int_frame.pixel_flow_x_integral;