Merge pull request mavlink#8 from scoutdi/issue/7/fix-warnings

Fix build warnings
scoutdi · Mar 26, 2020 · 98c90bd · 98c90bd
2 parents 3513250 + ff20653
commit 98c90bd
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Showing 9 changed files with 35 additions and 17 deletions.
diff --git a/mavros/src/lib/ftf_frame_conversions.cpp b/mavros/src/lib/ftf_frame_conversions.cpp
@@ -84,6 +84,9 @@ Eigen::Quaterniond transform_orientation(const Eigen::Quaterniond &q, const Stat
 	case StaticTF::AIRCRAFT_TO_BASELINK:
 	case StaticTF::BASELINK_TO_AIRCRAFT:
 		return q * AIRCRAFT_BASELINK_Q;
+
+	default:
+		return q;  // Not handled.
 	}
 }
 
@@ -98,6 +101,9 @@ Eigen::Vector3d transform_static_frame(const Eigen::Vector3d &vec, const StaticT
 	case StaticTF::AIRCRAFT_TO_BASELINK:
 	case StaticTF::BASELINK_TO_AIRCRAFT:
 		return AIRCRAFT_BASELINK_AFFINE * vec;
+
+	default:
+		return vec;  // Not handled.
 	}
 }
 
@@ -118,6 +124,9 @@ Covariance3d transform_static_frame(const Covariance3d &cov, const StaticTF tran
 	case StaticTF::BASELINK_TO_AIRCRAFT:
 		cov_out = cov_in * AIRCRAFT_BASELINK_Q;
 		return cov_out_;
+
+	default:
+		return cov;  // Not handled.
 	}
 }
 
@@ -149,6 +158,9 @@ Covariance6d transform_static_frame(const Covariance6d &cov, const StaticTF tran
 
 		cov_out = R * cov_in * R.transpose();
 		return cov_out_;
+
+	default:
+		return cov;  // Not handled.
 	}
 }
 
@@ -182,6 +194,9 @@ Covariance9d transform_static_frame(const Covariance9d &cov, const StaticTF tran
 
 		cov_out = R * cov_in * R.transpose();
 		return cov_out_;
+
+	default:
+		return cov;  // Not handled.
 	}
 }
 
@@ -223,6 +238,9 @@ Eigen::Vector3d transform_static_frame(const Eigen::Vector3d &vec, const Eigen::
 		// ENU to ECEF rotation is just an inverse rotation from ECEF to ENU, which means transpose.
 		R.transposeInPlace();
 		return R * vec;
+
+	default:
+		return vec;  // Not handled.
 	}
 }
 

diff --git a/mavros/src/plugins/3dr_radio.cpp b/mavros/src/plugins/3dr_radio.cpp
@@ -32,7 +32,7 @@ class TDRRadioPlugin : public plugin::PluginBase {
 		low_rssi(0)
 	{ }
 
-	void initialize(UAS &uas_)
+	void initialize(UAS &uas_) override
 	{
 		PluginBase::initialize(uas_);
 
@@ -43,7 +43,7 @@ class TDRRadioPlugin : public plugin::PluginBase {
 		enable_connection_cb();
 	}
 
-	Subscriptions get_subscriptions()
+	Subscriptions get_subscriptions() override
 	{
 		return {
 			make_handler(&TDRRadioPlugin::handle_radio_status),

diff --git a/mavros/src/plugins/home_position.cpp b/mavros/src/plugins/home_position.cpp
@@ -36,7 +36,7 @@ class HomePositionPlugin : public plugin::PluginBase {
 		REQUEST_POLL_TIME_DT(REQUEST_POLL_TIME_MS / 1000.0)
 	{ }
 
-	void initialize(UAS &uas_)
+	void initialize(UAS &uas_) override
 	{
 		PluginBase::initialize(uas_);
 
@@ -49,7 +49,7 @@ class HomePositionPlugin : public plugin::PluginBase {
 		enable_connection_cb();
 	}
 
-	Subscriptions get_subscriptions()
+	Subscriptions get_subscriptions() override
 	{
 		return {
 			       make_handler(&HomePositionPlugin::handle_home_position),

diff --git a/mavros/src/plugins/imu.cpp b/mavros/src/plugins/imu.cpp
@@ -58,7 +58,7 @@ class IMUPlugin : public plugin::PluginBase {
 		linear_accel_vec_frd(Eigen::Vector3d::Zero())
 	{ }
 
-	void initialize(UAS &uas_)
+	void initialize(UAS &uas_) override
 	{
 		PluginBase::initialize(uas_);
 
@@ -94,7 +94,7 @@ class IMUPlugin : public plugin::PluginBase {
 		enable_connection_cb();
 	}
 
-	Subscriptions get_subscriptions() {
+	Subscriptions get_subscriptions() override {
 		return {
 			       make_handler(&IMUPlugin::handle_attitude),
 			       make_handler(&IMUPlugin::handle_attitude_quaternion),

diff --git a/mavros/src/plugins/param.cpp b/mavros/src/plugins/param.cpp
@@ -364,7 +364,7 @@ class ParamPlugin : public plugin::PluginBase {
 		PARAM_TIMEOUT_DT(PARAM_TIMEOUT_MS / 1000.0)
 	{ }
 
-	void initialize(UAS &uas_)
+	void initialize(UAS &uas_) override
 	{
 		PluginBase::initialize(uas_);
 
@@ -382,7 +382,7 @@ class ParamPlugin : public plugin::PluginBase {
 		enable_connection_cb();
 	}
 
-	Subscriptions get_subscriptions()
+	Subscriptions get_subscriptions() override
 	{
 		return {
 			make_handler(&ParamPlugin::handle_param_value),

diff --git a/mavros/src/plugins/rc_io.cpp b/mavros/src/plugins/rc_io.cpp
@@ -34,7 +34,7 @@ class RCIOPlugin : public plugin::PluginBase {
 		has_rc_channels_msg(false)
 	{ }
 
-	void initialize(UAS &uas_)
+	void initialize(UAS &uas_) override
 	{
 		PluginBase::initialize(uas_);
 
@@ -45,7 +45,7 @@ class RCIOPlugin : public plugin::PluginBase {
 		enable_connection_cb();
 	};
 
-	Subscriptions get_subscriptions() {
+	Subscriptions get_subscriptions() override {
 		return {
 			       make_handler(&RCIOPlugin::handle_rc_channels_raw),
 			       make_handler(&RCIOPlugin::handle_rc_channels),

diff --git a/mavros/src/plugins/sys_status.cpp b/mavros/src/plugins/sys_status.cpp
@@ -430,7 +430,7 @@ class SystemStatusPlugin : public plugin::PluginBase
 		conn_heartbeat_mav_type(MAV_TYPE::ONBOARD_CONTROLLER)
 	{ }
 
-	void initialize(UAS &uas_)
+	void initialize(UAS &uas_) override
 	{
 		PluginBase::initialize(uas_);
 
@@ -497,7 +497,7 @@ class SystemStatusPlugin : public plugin::PluginBase
 		enable_connection_cb();
 	}
 
-	Subscriptions get_subscriptions() {
+	Subscriptions get_subscriptions() override {
 		return {
 			make_handler(&SystemStatusPlugin::handle_heartbeat),
 			make_handler(&SystemStatusPlugin::handle_sys_status),
@@ -915,7 +915,7 @@ class SystemStatusPlugin : public plugin::PluginBase
 	void handle_estimator_status(const mavlink::mavlink_message_t *msg, mavlink::common::msg::ESTIMATOR_STATUS &status)
 	{
 		using ESF = mavlink::common::ESTIMATOR_STATUS_FLAGS;
-		
+
 		auto est_status_msg = boost::make_shared<mavros_msgs::EstimatorStatus>();
 		est_status_msg->header.stamp = ros::Time::now();
 
@@ -952,7 +952,7 @@ class SystemStatusPlugin : public plugin::PluginBase
 		est_status_msg->gps_glitch_status_flag = !!(status.flags & enum_value(ESF::GPS_GLITCH));
 		est_status_msg->accel_error_status_flag = !!(status.flags & enum_value(ESF::ACCEL_ERROR));
 		// [[[end]]] (checksum: 7828381ee4002ea6b61a8f528ae4d12d)
-		
+
 		estimator_status_pub.publish(est_status_msg);
 	}
 

diff --git a/mavros/src/plugins/waypoint.cpp b/mavros/src/plugins/waypoint.cpp
@@ -149,7 +149,7 @@ class WaypointPlugin : public plugin::PluginBase {
 		RESCHEDULE_DT(RESCHEDULE_MS / 1000.0)
 	{ }
 
-	void initialize(UAS &uas_)
+	void initialize(UAS &uas_) override
 	{
 		PluginBase::initialize(uas_);
 
@@ -171,7 +171,7 @@ class WaypointPlugin : public plugin::PluginBase {
 		enable_connection_cb();
 	}
 
-	Subscriptions get_subscriptions() {
+	Subscriptions get_subscriptions() override {
 		return {
 			       make_handler(&WaypointPlugin::handle_mission_item),
 			       make_handler(&WaypointPlugin::handle_mission_request),

diff --git a/mavros_extras/src/plugins/fake_gps.cpp b/mavros_extras/src/plugins/fake_gps.cpp
@@ -73,7 +73,7 @@ class FakeGPSPlugin : public plugin::PluginBase,
 		fp_nh.param<int>("fix_type", ft_i, utils::enum_value(GPS_FIX_TYPE::NO_GPS));
 		fix_type = static_cast<GPS_FIX_TYPE>(ft_i);
 		fp_nh.param("gps_rate", _gps_rate, 5.0);		// GPS data rate of 5hz
-		gps_rate: _gps_rate;
+		gps_rate = _gps_rate;
 		fp_nh.param("eph", eph, 2.0);
 		fp_nh.param("epv", epv, 2.0);
 		fp_nh.param<int>("satellites_visible", satellites_visible, 5);