[modules][nav] return void for setup routines

sw/airborne/modules/nav/nav_bungee_takeoff.c

@@ -142,7 +142,7 @@ static void compute_points_from_bungee(void)
   VECT2_SUM(throttle_point, bungee_point, throttle_point);
 }
 
-bool nav_bungee_takeoff_setup(uint8_t bungee_wp)
+void nav_bungee_takeoff_setup(uint8_t bungee_wp)
 {
   // Store bungee point (from WP id, altitude should be ground alt)
   // FIXME use current alt instead ?
@@ -154,8 +154,6 @@ bool nav_bungee_takeoff_setup(uint8_t bungee_wp)
   // Enable Launch Status and turn kill throttle on
   CTakeoffStatus = Launch;
   kill_throttle = 1;
-
-  return false;
 }
 
 bool nav_bungee_takeoff_run(void)

sw/airborne/modules/nav/nav_bungee_takeoff.h

@@ -67,9 +67,8 @@
  * called in the flight plan before the 'run' function
  *
  * @param[in] bungee_wp Waypoint ID correcponding to the bungee location
- * @return always false, since called only once by the flight plan
  */
-extern bool nav_bungee_takeoff_setup(uint8_t bungee_wp);
+extern void nav_bungee_takeoff_setup(uint8_t bungee_wp);
 
 /** Bungee takeoff run function
  *

sw/airborne/modules/nav/nav_cube.c

@@ -36,7 +36,7 @@
 
 struct NavCube nav_cube;
 
-bool nav_cube_setup(uint8_t center, uint8_t tb, uint8_t te)
+void nav_cube_setup(uint8_t center, uint8_t tb, uint8_t te)
 {
 
   int32_t j, start_bx, start_by, start_bz, start_ex, start_ey, start_ez;
@@ -137,8 +137,6 @@ bool nav_cube_setup(uint8_t center, uint8_t tb, uint8_t te)
   /* bug in <for from="" to=""> ? */
   nav_cube.nline_x--;
   nav_cube.nline_z--;
-
-  return false;
 }
 
 bool nav_cube_run(int8_t j, int8_t i,

sw/airborne/modules/nav/nav_cube.h

@@ -122,10 +122,10 @@ struct NavCube {
 
 extern struct NavCube nav_cube;
 
-extern bool nav_cube_setup(uint8_t turb, uint8_t tb, uint8_t te);
-bool nav_cube_run(int8_t j, int8_t i,
-                    uint8_t dest_b, uint8_t dest_e,
-                    uint8_t src_b, uint8_t src_e);
+extern void nav_cube_setup(uint8_t turb, uint8_t tb, uint8_t te);
+extern bool nav_cube_run(int8_t j, int8_t i,
+                         uint8_t dest_b, uint8_t dest_e,
+                         uint8_t src_b, uint8_t src_e);
 
 #define nav_cube_SetAlpha(i) { nav_cube.alpha=i; }
 #define nav_cube_SetSect(i)  { nav_cube.sect=i; }

sw/airborne/modules/nav/nav_flower.c

@@ -57,7 +57,7 @@ static float Flowerradius;
 static uint8_t Center;
 static uint8_t Edge;
 
-bool nav_flower_setup(uint8_t CenterWP, uint8_t EdgeWP)
+void nav_flower_setup(uint8_t CenterWP, uint8_t EdgeWP)
 {
   Center = CenterWP;
   Edge = EdgeWP;
@@ -85,7 +85,6 @@ bool nav_flower_setup(uint8_t CenterWP, uint8_t EdgeWP)
 
   CircleX = 0;
   CircleY = 0;
-  return false;
 }
 
 bool nav_flower_run(void)

sw/airborne/modules/nav/nav_flower.h

@@ -30,6 +30,6 @@
 #include "std.h"
 
 extern bool nav_flower_run(void);
-extern bool nav_flower_setup(uint8_t CenterWP, uint8_t EdgeWP);
+extern void nav_flower_setup(uint8_t CenterWP, uint8_t EdgeWP);
 
 #endif

sw/airborne/modules/nav/nav_launcher.c

@@ -108,7 +108,7 @@ static float launch_circle_alt;
 static float launch_line_x;
 static float launch_line_y;
 
-bool nav_launcher_setup(void)
+void nav_launcher_setup(void)
 {
   launch_x = stateGetPositionEnu_f()->x;
   launch_y = stateGetPositionEnu_f()->y;
@@ -121,8 +121,6 @@ bool nav_launcher_setup(void)
 
   CLaunch_Status = L_Pitch_Nav;
   kill_throttle = 0;
-
-  return FALSE;
 }
 
 bool nav_launcher_run(void)

sw/airborne/modules/nav/nav_launcher.h

@@ -50,7 +50,7 @@
 #include "std.h"
 #include "paparazzi.h"
 
-extern bool nav_launcher_setup(void);
+extern void nav_launcher_setup(void);
 extern bool nav_launcher_run(void);
 
 #endif /* NAV_LAUNCHER_H */

sw/airborne/modules/nav/nav_line.c

@@ -33,10 +33,9 @@
 enum line_status { LR12, LQC21, LTC2, LQC22, LR21, LQC12, LTC1, LQC11 };
 static enum line_status line_status;
 
-bool nav_line_setup(void)
+void nav_line_setup(void)
 {
   line_status = LR12;
-  return false;
 }
 
 bool nav_line_run(uint8_t l1, uint8_t l2, float radius)

sw/airborne/modules/nav/nav_line.h

@@ -30,7 +30,7 @@
 
 #include "std.h"
 
-extern bool nav_line_setup(void);
+extern void nav_line_setup(void);
 extern bool nav_line_run(uint8_t wp1, uint8_t wp2, float radius);
 
 #endif /* NAV_LINE_H */

sw/airborne/modules/nav/nav_line_border.c

@@ -37,10 +37,9 @@
 enum line_border_status { LR12, LQC21, LTC2, LQC22, LR21, LQC12, LTC1, LQC11 };
 static enum line_border_status line_border_status;
 
-bool nav_line_border_setup(void)
+void nav_line_border_setup(void)
 {
   line_border_status = LR12;
-  return false;
 }
 
 bool nav_line_border_run(uint8_t l1, uint8_t l2, float radius)

sw/airborne/modules/nav/nav_line_border.h

@@ -29,7 +29,7 @@
 
 #include "std.h"
 
-extern bool nav_line_border_setup(void);
+extern void nav_line_border_setup(void);
 extern bool nav_line_border_run(uint8_t wp1, uint8_t wp2, float radius);
 
 #endif /* NAV_LINE_BORDER_H */

sw/airborne/modules/nav/nav_skid_landing.c

@@ -91,7 +91,7 @@ static inline float distance_equation(struct FloatVect2 p1,struct FloatVect2 p2)
   return sqrtf((p1.x-p2.x)*(p1.x-p2.x)+(p1.y-p2.y)*(p1.y-p2.y));
 }
 
-bool nav_skid_landing_setup(uint8_t afwp, uint8_t tdwp, float radius)
+void nav_skid_landing_setup(uint8_t afwp, uint8_t tdwp, float radius)
 {
   aw_waypoint = afwp;
   td_waypoint = tdwp;
@@ -122,8 +122,6 @@ bool nav_skid_landing_setup(uint8_t afwp, uint8_t tdwp, float radius)
     approach_quadrant = land_circle_quadrant + RadOfDeg(90);
     land_circle_quadrant = land_circle_quadrant + RadOfDeg(45);
   }
-
-  return FALSE;
 }
 
 bool nav_skid_landing_run(void)

sw/airborne/modules/nav/nav_skid_landing.h

@@ -60,7 +60,7 @@
 #include "std.h"
 #include "paparazzi.h"
 
-extern bool nav_skid_landing_setup(uint8_t afwp, uint8_t tdwp, float radius);
+extern void nav_skid_landing_setup(uint8_t afwp, uint8_t tdwp, float radius);
 extern bool nav_skid_landing_run(void);
 
 void nav_skid_landing_glide(uint8_t from_wp, uint8_t to_wp);

sw/airborne/modules/nav/nav_spiral.c

@@ -47,7 +47,7 @@
 
 struct NavSpiral nav_spiral;
 
-bool nav_spiral_setup(uint8_t center_wp, uint8_t edge_wp, float radius_start, float radius_inc, float segments)
+void nav_spiral_setup(uint8_t center_wp, uint8_t edge_wp, float radius_start, float radius_inc, float segments)
 {
   VECT2_COPY(nav_spiral.center, waypoints[center_wp]);    // center of the helix
   nav_spiral.center.z = waypoints[center_wp].a;
@@ -81,7 +81,6 @@ bool nav_spiral_setup(uint8_t center_wp, uint8_t edge_wp, float radius_start, fl
   if (nav_spiral.dist_from_center > nav_spiral.radius) {
     nav_spiral.status = SpiralOutside;
   }
-  return false;
 }
 
 bool nav_spiral_run(void)

sw/airborne/modules/nav/nav_spiral.h

@@ -52,7 +52,7 @@ struct NavSpiral {
 extern struct NavSpiral nav_spiral;
 
 extern bool nav_spiral_run(void);
-extern bool nav_spiral_setup(uint8_t center_wp, uint8_t edge_wp, float radius_start,
-                               float radius_inc, float segments);
+extern void nav_spiral_setup(uint8_t center_wp, uint8_t edge_wp, float radius_start,
+                             float radius_inc, float segments);
 
 #endif // NAV_SPIRAL_H

sw/airborne/modules/nav/nav_survey_disc.c

@@ -46,14 +46,13 @@ struct DiscSurvey {
 static struct DiscSurvey disc_survey;
 
 
-bool nav_survey_disc_setup(float grid)
+void nav_survey_disc_setup(float grid)
 {
   nav_survey_shift = grid;
   disc_survey.status = DOWNWIND;
   disc_survey.sign = 1;
   disc_survey.c1.x = stateGetPositionEnu_f()->x;
   disc_survey.c1.y = stateGetPositionEnu_f()->y;
-  return false;
 }
 
 bool nav_survey_disc_run(uint8_t center_wp, float radius)

sw/airborne/modules/nav/nav_survey_disc.h

@@ -29,7 +29,7 @@
 
 #include "std.h"
 
-extern bool nav_survey_disc_setup(float grid);
+extern void nav_survey_disc_setup(float grid);
 extern bool nav_survey_disc_run(uint8_t c, float radius);
 
 #endif /* NAV_SURVEY_DISC_H */

sw/airborne/modules/nav/nav_survey_poly_osam.c

@@ -78,7 +78,7 @@ bool use_full_circle = POLY_OSAM_USE_FULL_CIRCLE;
 bool Half_Sweep_Enabled = POLY_OSAM_HALF_SWEEP_ENABLED;
 bool Reset_Sweep = FALSE;
 
-bool nav_survey_poly_osam_setup_towards(uint8_t FirstWP, uint8_t Size, float Sweep, int SecondWP)
+void nav_survey_poly_osam_setup_towards(uint8_t FirstWP, uint8_t Size, float Sweep, int SecondWP)
 {
   float dx = waypoints[SecondWP].x - waypoints[FirstWP].x;
   float dy = waypoints[SecondWP].y - waypoints[FirstWP].y;
@@ -87,7 +87,7 @@ bool nav_survey_poly_osam_setup_towards(uint8_t FirstWP, uint8_t Size, float Swe
   //if values passed, use it.
   if (Size == 0) {Size = Poly_Size;}
   if (Sweep == 0) {Sweep = Poly_Sweep;}
-  return nav_survey_poly_osam_setup(FirstWP, Size, Sweep, DegOfRad(ang));
+  nav_survey_poly_osam_setup(FirstWP, Size, Sweep, DegOfRad(ang));
 }
 
 struct Point2D {float x; float y;};
@@ -142,7 +142,7 @@ uint16_t PolySurveySweepNum;
 uint16_t PolySurveySweepBackNum;
 float EntryRadius;
 
-bool nav_survey_poly_osam_setup(uint8_t EntryWP, uint8_t Size, float sw, float Orientation)
+void nav_survey_poly_osam_setup(uint8_t EntryWP, uint8_t Size, float sw, float Orientation)
 {
   SmallestCorner.x = 0;
   SmallestCorner.y = 0;
@@ -183,7 +183,7 @@ bool nav_survey_poly_osam_setup(uint8_t EntryWP, uint8_t Size, float sw, float O
   CSurveyStatus = Init;
 
   if (Size == 0) {
-    return true;
+    return;
   }
 
   //Don't initialize if Polygon is too big or if the orientation is not between 0 and 90
@@ -342,8 +342,6 @@ bool nav_survey_poly_osam_setup(uint8_t EntryWP, uint8_t Size, float sw, float O
     CSurveyStatus = Entry;
     LINE_STOP_FUNCTION;
   }
-
-  return false;
 }
 
 bool nav_survey_poly_osam_run(void)

sw/airborne/modules/nav/nav_survey_poly_osam.h

@@ -43,7 +43,7 @@ extern bool Reset_Sweep;
  * @param Sweep        distance between scan lines
  * @param Orientation  angle of scan lines in degrees (CCW, east)
  */
-extern bool nav_survey_poly_osam_setup(uint8_t FirstWP, uint8_t Size, float Sweep, float Orientation);
+extern void nav_survey_poly_osam_setup(uint8_t FirstWP, uint8_t Size, float Sweep, float Orientation);
 
 /**
  * Setup "dynamic" polygon survey with sweep orientation towards a waypoint.
@@ -56,7 +56,7 @@ extern bool nav_survey_poly_osam_setup(uint8_t FirstWP, uint8_t Size, float Swee
  * @param Sweep     distance between scan lines, if zero uses Poly_Sweep
  * @param SecondWP  second waypoint towards which the sweep orientation is computed
  */
-extern bool nav_survey_poly_osam_setup_towards(uint8_t FirstWP, uint8_t Size, float Sweep, int SecondWP);
+extern void nav_survey_poly_osam_setup_towards(uint8_t FirstWP, uint8_t Size, float Sweep, int SecondWP);
 
 /** Run polygon survey */
 extern bool nav_survey_poly_osam_run(void);

sw/airborne/modules/nav/nav_survey_poly_rotorcraft.c

@@ -61,7 +61,7 @@ uint8_t Poly_Size = POLYSURVEY_DEFAULT_SIZE;
 float Poly_Distance = POLYSURVEY_DEFAULT_DISTANCE;
 
 
-bool nav_survey_poly_setup_towards(uint8_t FirstWP, uint8_t Size, float Sweep, int SecondWP)
+void nav_survey_poly_setup_towards(uint8_t FirstWP, uint8_t Size, float Sweep, int SecondWP)
 {
   float dx = waypoints[SecondWP].enu_f.x - waypoints[FirstWP].enu_f.x;
   float dy = waypoints[SecondWP].enu_f.y - waypoints[FirstWP].enu_f.y;
@@ -72,7 +72,7 @@ bool nav_survey_poly_setup_towards(uint8_t FirstWP, uint8_t Size, float Sweep, i
   //if values passed, use it.
   if (Size == 0) {Size = Poly_Size;}
   if (Sweep == 0) {Sweep = Poly_Distance;}
-  return nav_survey_poly_setup(FirstWP, Size, Sweep, ang);
+  nav_survey_poly_setup(FirstWP, Size, Sweep, ang);
 }
 
 struct Point2D {float x; float y;};
@@ -121,7 +121,7 @@ float EntryRadius;
 bool Half_Sweep_Enabled = POLY_OSAM_HALF_SWEEP_ENABLED;
 
 //=========================================================================================================================
-bool nav_survey_poly_setup(uint8_t EntryWP, uint8_t Size, float sw, float Orientation)
+void nav_survey_poly_setup(uint8_t EntryWP, uint8_t Size, float sw, float Orientation)
 {
   SmallestCorner.x = 0;
   SmallestCorner.y = 0;
@@ -155,7 +155,7 @@ bool nav_survey_poly_setup(uint8_t EntryWP, uint8_t Size, float sw, float Orient
   CSurveyStatus = Init;
 
   if (Size == 0) {
-    return true;
+    return;
   }
 
   //Don't initialize if Polygon is too big or if the orientation is not between 0 and 90
@@ -301,8 +301,6 @@ bool nav_survey_poly_setup(uint8_t EntryWP, uint8_t Size, float sw, float Orient
     nav_set_heading_deg(-Orientation + 90.);
 
   }
-
-  return false;
 }
 
 //=========================================================================================================================

sw/airborne/modules/nav/nav_survey_poly_rotorcraft.h

@@ -42,7 +42,7 @@ extern bool Half_Sweep_Enabled;
  * @param Sweep        distance between scan lines
  * @param Orientation  angle of scan lines in degrees (CCW, east)
  */
-extern bool nav_survey_poly_setup(uint8_t FirstWP, uint8_t Size, float Sweep, float Orientation);
+extern void nav_survey_poly_setup(uint8_t FirstWP, uint8_t Size, float Sweep, float Orientation);
 
 /**
  * Setup "dynamic" polygon survey with sweep orientation towards a waypoint.
@@ -55,7 +55,7 @@ extern bool nav_survey_poly_setup(uint8_t FirstWP, uint8_t Size, float Sweep, fl
  * @param Sweep     distance between scan lines, if zero uses Poly_Distance
  * @param SecondWP  second waypoint towards which the sweep orientation is computed
  */
-extern bool nav_survey_poly_setup_towards(uint8_t FirstWP, uint8_t Size, float Sweep, int SecondWP);
+extern void nav_survey_poly_setup_towards(uint8_t FirstWP, uint8_t Size, float Sweep, int SecondWP);
 
 /** Run polygon survey */
 extern bool nav_survey_poly_run(void);

sw/airborne/modules/nav/nav_survey_polygon.c

@@ -132,8 +132,8 @@ static bool get_two_intersects(struct FloatVect2 *x, struct FloatVect2 *y, struc
  *  @param min_rad       minimal radius when navigating
  *  @param altitude      the altitude that must be reached before the flyover starts
  **/
-bool nav_survey_polygon_setup(uint8_t first_wp, uint8_t size, float angle, float sweep_width, float shot_dist,
-                                float min_rad, float altitude)
+void nav_survey_polygon_setup(uint8_t first_wp, uint8_t size, float angle, float sweep_width, float shot_dist,
+                              float min_rad, float altitude)
 {
   int i;
   struct FloatVect2 small, sweep;
@@ -212,7 +212,7 @@ bool nav_survey_polygon_setup(uint8_t first_wp, uint8_t size, float angle, float
 
   if (!get_two_intersects(&survey.seg_start, &survey.seg_end, survey.seg_start, survey.seg_end)) {
     survey.stage = ERR;
-    return false;
+    return;
   }
 
   //center of the entry circle
@@ -223,8 +223,6 @@ bool nav_survey_polygon_setup(uint8_t first_wp, uint8_t size, float angle, float
   NavVerticalAltitudeMode(survey.psa_altitude, 0.0);
 
   survey.stage = ENTRY;
-
-  return false;
 }
 
 /**

sw/airborne/modules/nav/nav_survey_polygon.h

@@ -82,8 +82,8 @@ struct SurveyPolyAdv {
   struct FloatVect2 ret_end;
 };
 
-extern bool nav_survey_polygon_setup(uint8_t first_wp, uint8_t size, float angle, float sweep_width, float shot_dist,
-                                       float min_rad, float altitude);
+extern void nav_survey_polygon_setup(uint8_t first_wp, uint8_t size, float angle, float sweep_width, float shot_dist,
+                                     float min_rad, float altitude);
 extern bool nav_survey_polygon_run(void);
 
 #endif

sw/airborne/modules/nav/nav_survey_rectangle_rotorcraft.c

@@ -96,7 +96,7 @@ void nav_survey_rectangle_rotorcraft_init(void)
 #endif
 }
 
-bool nav_survey_rectangle_rotorcraft_setup(uint8_t wp1, uint8_t wp2, float grid, survey_orientation_t so)
+void nav_survey_rectangle_rotorcraft_setup(uint8_t wp1, uint8_t wp2, float grid, survey_orientation_t so)
 {
   rectangle_survey_sweep_num = 0;
   nav_survey_west = Min(WaypointX(wp1), WaypointX(wp2));
@@ -151,7 +151,6 @@ bool nav_survey_rectangle_rotorcraft_setup(uint8_t wp1, uint8_t wp2, float grid,
   } else {
     nav_set_heading_deg(90);
   }
-  return false;
 }
 
 

sw/airborne/modules/nav/nav_survey_rectangle_rotorcraft.h

@@ -41,7 +41,7 @@ extern bool interleave;
 
 
 extern void nav_survey_rectangle_rotorcraft_init(void);
-extern bool nav_survey_rectangle_rotorcraft_setup(uint8_t wp1, uint8_t wp2, float grid1, survey_orientation_t so);
+extern void nav_survey_rectangle_rotorcraft_setup(uint8_t wp1, uint8_t wp2, float grid1, survey_orientation_t so);
 extern bool nav_survey_rectangle_rotorcraft_run(uint8_t wp1, uint8_t wp2);
 
 #define NavSurveyRectangleInit(_wp1, _wp2, _grid, _orientation) nav_survey_rectangle_rotorcraft_setup(_wp1, _wp2, _grid, _orientation)

sw/airborne/modules/nav/nav_survey_zamboni.c

@@ -54,8 +54,8 @@ struct ZamboniSurvey zs;
  * @param sweep_lines   number of sweep_lines to fly
  * @param altitude      the altitude that must be reached before the flyover starts
  */
-bool nav_survey_zamboni_setup(uint8_t center_wp, uint8_t dir_wp, float sweep_length, float sweep_spacing,
-                                int sweep_lines, float altitude)
+void nav_survey_zamboni_setup(uint8_t center_wp, uint8_t dir_wp, float sweep_length, float sweep_spacing,
+                              int sweep_lines, float altitude)
 {
   zs.current_laps = 0;
   zs.pre_leave_angle = 2;
@@ -117,8 +117,6 @@ bool nav_survey_zamboni_setup(uint8_t center_wp, uint8_t dir_wp, float sweep_len
   NavVerticalAltitudeMode(zs.altitude, 0.0);
 
   zs.stage = Z_ENTRY;
-
-  return false;
 }
 
 /**

sw/airborne/modules/nav/nav_survey_zamboni.h

@@ -70,7 +70,7 @@ struct ZamboniSurvey {
 };
 
 
-extern bool nav_survey_zamboni_setup(uint8_t center_wp, uint8_t dir_wp, float sweep_length, float sweep_spacing,
+extern void nav_survey_zamboni_setup(uint8_t center_wp, uint8_t dir_wp, float sweep_length, float sweep_spacing,
                                        int sweep_lines, float altitude);
 extern bool nav_survey_zamboni_run(void);
 

sw/airborne/modules/nav/nav_vertical_raster.c

@@ -40,10 +40,9 @@
 enum line_status { LR12, LQC21, LTC2, LQC22, LR21, LQC12, LTC1, LQC11 };
 static enum line_status line_status;
 
-bool nav_vertical_raster_setup(void)
+void nav_vertical_raster_setup(void)
 {
   line_status = LR12;
-  return false;
 }
 
 bool nav_vertical_raster_run(uint8_t l1, uint8_t l2, float radius, float AltSweep)

sw/airborne/modules/nav/nav_vertical_raster.h

@@ -29,7 +29,7 @@
 
 #include "std.h"
 
-extern bool nav_vertical_raster_setup(void);
+extern void nav_vertical_raster_setup(void);
 extern bool nav_vertical_raster_run(uint8_t wp1, uint8_t wp2, float radius, float AltSweep);
 
 #endif