fix some compile warnings

dlime · Apr 24, 2014 · 1037ca1 · 1037ca1
1 parent 2418edc
commit 1037ca1
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Showing 4 changed files with 11 additions and 9 deletions.
diff --git a/src/autopilot/ControlNode.cpp b/src/autopilot/ControlNode.cpp
@@ -33,9 +33,9 @@
 #include <string>
 
 // include KI's
-#include "KI/KIAutoInit.h";
-#include "KI/KIFlyTo.h";
-#include "KI/KILand.h";
+#include "KI/KIAutoInit.h"
+#include "KI/KIFlyTo.h"
+#include "KI/KILand.h"
 #include "KI/KIProcedure.h"
 
 
@@ -155,12 +155,10 @@ void ControlNode::popNextCommand(const tum_ardrone::filter_stateConstPtr statePt
 		ROS_INFO("executing command: %s",command.c_str());
 
 
-		int p;
+		unsigned int p;
 		char buf[100];
 		float parameters[10];
 
-		int pi;
-
 		// replace macros
 		if((p = command.find("$POSE$")) != std::string::npos)
 		{
@@ -426,7 +424,7 @@ void ControlNode::sendControlToDrone(ControlCommand cmd)
 	cmdT.linear.y = -cmd.roll;
 
 	// assume that while actively controlling, the above for will never be equal to zero, so i will never hover.
-	cmdT.angular.x = cmdT.angular.x = 0;
+	cmdT.angular.x = cmdT.angular.y = 0;
 
 	if(isControlling)
 	{

diff --git a/src/autopilot/DroneController.h b/src/autopilot/DroneController.h
@@ -51,7 +51,7 @@ struct DronePosition
 	double yaw;
 	TooN::Vector<3> pos;
 	inline DronePosition(TooN::Vector<3> pos, double yaw)
-		: pos(pos), yaw(yaw) {}
+		: yaw(yaw), pos(pos) {}
 	inline DronePosition(){ yaw=0; pos=TooN::makeVector(0,0,0);}
 };
 

diff --git a/src/autopilot/KI/KIAutoInit.cpp b/src/autopilot/KI/KIAutoInit.cpp
@@ -83,6 +83,8 @@ bool KIAutoInit::update(const tum_ardrone::filter_stateConstPtr statePtr)
 		case DONE:
 			node->sendControlToDrone(controller->update(statePtr));
 			return true;
+		default:
+			return false;
 		}
 		return true;	// should never happen....
 	}
@@ -180,6 +182,8 @@ bool KIAutoInit::update(const tum_ardrone::filter_stateConstPtr statePtr)
 		case DONE:
 			node->sendControlToDrone(controller->update(statePtr));
 			return true;
+		default:
+			return false;
 		}
 		return false;	// again: should never happen....
 	}

diff --git a/src/autopilot/KI/KIProcedure.h b/src/autopilot/KI/KIProcedure.h
@@ -53,7 +53,7 @@ class KIProcedure
 
 	// constructed shortly before first update.
 	inline KIProcedure(void) {node = NULL; controller = NULL; command = "not set"; };
-	inline ~KIProcedure(void) {};
+	virtual ~KIProcedure(void) {};
 };
 
 #endif /* __KIPROCEDURE_H */