From 4d11469dff5e82d3fc694a2c978baa6b3eb73896 Mon Sep 17 00:00:00 2001 From: Parker Lusk Date: Fri, 27 Mar 2020 11:05:36 -0400 Subject: [PATCH 1/2] minor: mark commandMotorPWMs as override --- .../multirotor/firmwares/simple_flight/SimpleFlightApi.hpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/AirLib/include/vehicles/multirotor/firmwares/simple_flight/SimpleFlightApi.hpp b/AirLib/include/vehicles/multirotor/firmwares/simple_flight/SimpleFlightApi.hpp index 955e094cc3..ca7a1f39e1 100644 --- a/AirLib/include/vehicles/multirotor/firmwares/simple_flight/SimpleFlightApi.hpp +++ b/AirLib/include/vehicles/multirotor/firmwares/simple_flight/SimpleFlightApi.hpp @@ -195,7 +195,7 @@ class SimpleFlightApi : public MultirotorApiBase { return 0.5f; //measured in simulator by firing commands "MoveToLocation -x 0 -y 0" multiple times and looking at distance traveled } - virtual void commandMotorPWMs(float front_right_pwm, float rear_left_pwm, float front_left_pwm, float rear_right_pwm) + virtual void commandMotorPWMs(float front_right_pwm, float rear_left_pwm, float front_left_pwm, float rear_right_pwm) override { //Utils::log(Utils::stringf("commandMotorPWMs %f, %f, %f, %f", front_right_pwm, rear_left_pwm, front_left_pwm, rear_right_pwm)); From e7a44d353148364b940430162a12db2bf7f92868 Mon Sep 17 00:00:00 2001 From: Parker Lusk Date: Fri, 27 Mar 2020 11:06:33 -0400 Subject: [PATCH 2/2] minor: squelch warnings about unused switch cases --- .../multirotor/firmwares/simple_flight/SimpleFlightApi.hpp | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/AirLib/include/vehicles/multirotor/firmwares/simple_flight/SimpleFlightApi.hpp b/AirLib/include/vehicles/multirotor/firmwares/simple_flight/SimpleFlightApi.hpp index ca7a1f39e1..a058f87d9a 100644 --- a/AirLib/include/vehicles/multirotor/firmwares/simple_flight/SimpleFlightApi.hpp +++ b/AirLib/include/vehicles/multirotor/firmwares/simple_flight/SimpleFlightApi.hpp @@ -362,6 +362,11 @@ class SimpleFlightApi : public MultirotorApiBase { params_.position_pid.d.setValues(kd_axis4); params_.gains_changed = true; break; + case simple_flight::GoalModeType::Unknown: + case simple_flight::GoalModeType::Passthrough: + case simple_flight::GoalModeType::ConstantOutput: + // no gains to set associated with these modes + break; } }