[SITL OSX] Fix some of the warnings and add macosx SITL build to workflows

.github/workflows/ci.yml

@@ -38,9 +38,9 @@ jobs:
       - name: Build targets (${{ matrix.id }})
         run: mkdir -p build && cd build && cmake -DWARNINGS_AS_ERRORS=ON -DCI_JOB_INDEX=${{ matrix.id }} -DCI_JOB_COUNT=${{ strategy.job-total }} -DBUILD_SUFFIX=${{ env.BUILD_SUFFIX }} -G Ninja .. && ninja ci
       - name: Upload artifacts
-        uses: actions/upload-artifact@v2-preview
+        uses: actions/upload-artifact@v3
         with:
-          name: ${{ env.BUILD_NAME }}.zip
+          name: ${{ env.BUILD_NAME }}
           path: ./build/*.hex
 
   build-SITL-Linux:
@@ -68,9 +68,46 @@ jobs:
       - name: Build SITL
         run: mkdir -p build_SITL && cd build_SITL && cmake -DSITL=ON -DWARNINGS_AS_ERRORS=ON -G Ninja .. && ninja
       - name: Upload artifacts
-        uses: actions/upload-artifact@v2-preview
+        uses: actions/upload-artifact@v3
         with:
-          name: ${{ env.BUILD_NAME }}_SITL.zip
+          name: ${{ env.BUILD_NAME }}_SITL
+          path: ./build_SITL/*_SITL
+
+  build-SITL-Mac:
+    runs-on: macos-latest
+    steps:
+      - uses: actions/checkout@v3
+      - name: Install dependencies
+        run: |
+          brew update
+          brew install cmake ninja ruby
+
+      - name: Setup environment
+        env:
+          ACTIONS_ALLOW_UNSECURE_COMMANDS: true
+        run: |
+          # This is the hash of the commit for the PR
+          # when the action is triggered by PR, empty otherwise
+          COMMIT_ID=${{ github.event.pull_request.head.sha }}
+          # This is the hash of the commit when triggered by push
+          # but the hash of refs/pull/<n>/merge, which is different
+          # from the hash of the latest commit in the PR, that's
+          # why we try github.event.pull_request.head.sha first
+          COMMIT_ID=${COMMIT_ID:-${{ github.sha }}}
+          BUILD_SUFFIX=ci-$(date '+%Y%m%d')-$(git rev-parse --short ${COMMIT_ID})
+          VERSION=$(grep project CMakeLists.txt|awk -F VERSION '{ gsub(/^[ \t]+|[ \t\)]+$/, "", $2); print $2 }')
+          echo "BUILD_SUFFIX=${BUILD_SUFFIX}" >> $GITHUB_ENV
+          echo "BUILD_NAME=inav-${VERSION}-${BUILD_SUFFIX}" >> $GITHUB_ENV
+      - name: Build SITL
+        run: |
+          mkdir -p build_SITL && cd build_SITL
+          cmake -DSITL=ON -DWARNINGS_AS_ERRORS=ON -G Ninja ..
+          ninja
+
+      - name: Upload artifacts
+        uses: actions/upload-artifact@v3
+        with:
+          name: ${{ env.BUILD_NAME }}_SITL-MacOS
           path: ./build_SITL/*_SITL
 
   build-SITL-Windows:
@@ -103,9 +140,9 @@ jobs:
       - name: Build SITL
         run: mkdir -p build_SITL && cd build_SITL && cmake -DSITL=ON -DWARNINGS_AS_ERRORS=ON -G Ninja .. && ninja
       - name: Upload artifacts
-        uses: actions/upload-artifact@v2-preview
+        uses: actions/upload-artifact@v3
         with:
-          name: ${{ env.BUILD_NAME }}_SITL-WIN.zip
+          name: ${{ env.BUILD_NAME }}_SITL-WIN
           path: ./build_SITL/*.exe
 
 

cmake/sitl.cmake

@@ -59,6 +59,10 @@ if(NOT MACOSX)
         -Wno-error=maybe-uninitialized
         -fsingle-precision-constant
     )
+else()
+    set(SITL_COMPILE_OPTIONS ${SITL_COMPILE_OPTIONS}
+        -Wno-missing-braces
+    )
 endif()
 
 set(SITL_DEFINITIONS

lib/main/MAVLink/mavlink_helpers.h

@@ -574,8 +574,6 @@ MAVLINK_HELPER uint8_t mavlink_frame_char_buffer(mavlink_message_t* rxmsg,
                                                  mavlink_message_t* r_message, 
                                                  mavlink_status_t* r_mavlink_status)
 {
-	int bufferIndex = 0;
-
 	status->msg_received = MAVLINK_FRAMING_INCOMPLETE;
 
 	switch (status->parse_state)
@@ -801,7 +799,6 @@ MAVLINK_HELPER uint8_t mavlink_frame_char_buffer(mavlink_message_t* rxmsg,
 		break;
 	}
 
-	bufferIndex++;
 	// If a message has been sucessfully decoded, check index
 	if (status->msg_received == MAVLINK_FRAMING_OK)
 	{

src/main/blackbox/blackbox.c

@@ -1326,12 +1326,19 @@ static void loadSlowState(blackboxSlowState_t *slow)
 #endif
 
     bool valid_temp;
-    valid_temp = getIMUTemperature(&slow->imuTemperature);
-    if (!valid_temp) slow->imuTemperature = TEMPERATURE_INVALID_VALUE;
+    int16_t newTemp = 0;
+    valid_temp = getIMUTemperature(&newTemp);
+    if (valid_temp) 
+        slow->imuTemperature = newTemp;
+    else
+        slow->imuTemperature = TEMPERATURE_INVALID_VALUE;
 
 #ifdef USE_BARO
-    valid_temp = getBaroTemperature(&slow->baroTemperature);
-    if (!valid_temp) slow->baroTemperature = TEMPERATURE_INVALID_VALUE;
+    valid_temp = getBaroTemperature(&newTemp);
+    if (valid_temp)
+        slow->baroTemperature = newTemp;
+    else
+        slow->baroTemperature = TEMPERATURE_INVALID_VALUE;
 #endif
 
 #ifdef USE_TEMPERATURE_SENSOR

src/main/cms/cms_types.h

@@ -192,7 +192,7 @@ typedef struct OSD_SETTING_s {
     const uint8_t step;
 } __attribute__((packed)) OSD_SETTING_t;
 
-#define OSD_SETTING_ENTRY_STEP_TYPE(name, setting, step, type)  { name, NULL, &(const OSD_SETTING_t){ setting, step }, OME_Setting, type }
+#define OSD_SETTING_ENTRY_STEP_TYPE(name, setting, step, type)  { name, { NULL }, &(const OSD_SETTING_t){ setting, step }, OME_Setting, type }
 #define OSD_SETTING_ENTRY_TYPE(name, setting, type)             OSD_SETTING_ENTRY_STEP_TYPE(name, setting, 0, type)
 #define OSD_SETTING_ENTRY_STEP(name, setting, step)             OSD_SETTING_ENTRY_STEP_TYPE(name, setting, step, 0)
 #define OSD_SETTING_ENTRY(name, setting)                        OSD_SETTING_ENTRY_STEP(name, setting, 0)

src/main/common/constants.h

@@ -18,9 +18,9 @@
 #pragma once
 
 #define FEET_PER_MILE                           5280
-#define FEET_PER_NAUTICALMILE                   6076.118
+#define FEET_PER_NAUTICALMILE                   6076.118f
 #define FEET_PER_KILOFEET                       1000 // Used for altitude
 #define METERS_PER_KILOMETER                    1000
-#define METERS_PER_MILE                         1609.344
-#define METERS_PER_FOOT                         3.28084
-#define METERS_PER_NAUTICALMILE                 1852.001
+#define METERS_PER_MILE                         1609.344f
+#define METERS_PER_FOOT                         3.28084f
+#define METERS_PER_NAUTICALMILE                 1852.001f

src/main/common/maths.c

@@ -521,7 +521,7 @@ float bellCurve(const float x, const float curveWidth)
     return powf(M_Ef, -sq(x) / (2.0f * sq(curveWidth)));
 }
 
-float fast_fsqrtf(const double value) {
+float fast_fsqrtf(const float value) {
     float ret = 0.0f;
 #ifdef USE_ARM_MATH
     arm_sqrt_f32(value, &ret);

src/main/common/maths.h

@@ -36,13 +36,13 @@
 #define RAD    (M_PIf / 180.0f)
 
 #define DEGREES_TO_CENTIDEGREES(angle) ((angle) * 100)
-#define CENTIDEGREES_TO_DEGREES(angle) ((angle) / 100)
+#define CENTIDEGREES_TO_DEGREES(angle) ((angle) / 100.0f)
 
-#define CENTIDEGREES_TO_DECIDEGREES(angle) ((angle) / 10)
+#define CENTIDEGREES_TO_DECIDEGREES(angle) ((angle) / 10.0f)
 #define DECIDEGREES_TO_CENTIDEGREES(angle) ((angle) * 10)
 
 #define DEGREES_TO_DECIDEGREES(angle) ((angle) * 10)
-#define DECIDEGREES_TO_DEGREES(angle) ((angle) / 10)
+#define DECIDEGREES_TO_DEGREES(angle) ((angle) / 10.0f)
 
 #define DEGREES_PER_DEKADEGREE 10
 #define DEGREES_TO_DEKADEGREES(angle) ((angle) / DEGREES_PER_DEKADEGREE)
@@ -56,15 +56,15 @@
 #define RADIANS_TO_CENTIDEGREES(angle) (((angle) * 100.0f) / RAD)
 #define CENTIDEGREES_TO_RADIANS(angle) (((angle) / 100.0f) * RAD)
 
-#define CENTIMETERS_TO_CENTIFEET(cm)            (cm / 0.3048)
-#define CENTIMETERS_TO_FEET(cm)                 (cm / 30.48)
-#define CENTIMETERS_TO_METERS(cm)               (cm / 100)
+#define CENTIMETERS_TO_CENTIFEET(cm)            (cm / 0.3048f)
+#define CENTIMETERS_TO_FEET(cm)                 (cm / 30.48f)
+#define CENTIMETERS_TO_METERS(cm)               (cm / 100.0f)
 
 #define METERS_TO_CENTIMETERS(m)                (m * 100)
 
-#define CMSEC_TO_CENTIMPH(cms)      (cms * 2.2369363)
-#define CMSEC_TO_CENTIKPH(cms)      (cms * 3.6)
-#define CMSEC_TO_CENTIKNOTS(cms)    (cms * 1.943845)
+#define CMSEC_TO_CENTIMPH(cms)      (cms * 2.2369363f)
+#define CMSEC_TO_CENTIKPH(cms)      (cms * 3.6f)
+#define CMSEC_TO_CENTIKNOTS(cms)    (cms * 1.943845f)
 
 #define C_TO_KELVIN(temp) (temp + 273.15f)
 
@@ -188,6 +188,6 @@ float acos_approx(float x);
 void arraySubInt32(int32_t *dest, int32_t *array1, int32_t *array2, int count);
 
 float bellCurve(const float x, const float curveWidth);
-float fast_fsqrtf(const double value);
+float fast_fsqrtf(const float value);
 float calc_length_pythagorean_2D(const float firstElement, const float secondElement);
 float calc_length_pythagorean_3D(const float firstElement, const float secondElement, const float thirdElement);

src/main/common/memory.c

@@ -52,7 +52,7 @@ void * memAllocate(size_t wantedSize, resourceOwner_e owner)
         retPointer = &dynHeap[dynHeapFreeWord];
         dynHeapFreeWord += wantedWords;
         dynHeapUsage[owner] += wantedWords * sizeof(uint32_t);
-        LOG_DEBUG(SYSTEM, "Memory allocated. Free memory = %d", memGetAvailableBytes());
+        LOG_DEBUG(SYSTEM, "Memory allocated. Free memory = %ld", (unsigned long)memGetAvailableBytes());
     }
     else {
         // OOM

src/main/common/quaternion.h

@@ -58,7 +58,7 @@ static inline void quaternionToAxisAngle(fpAxisAngle_t * result, const fpQuatern
         a.angle -= 2.0f * M_PIf;
     }
 
-    const float sinVal = sqrt(1.0f - q->q0 * q->q0);
+    const float sinVal = sqrtf(1.0f - q->q0 * q->q0);
 
     // Axis is only valid when rotation is large enough sin(0.0057 deg) = 0.0001
     if (sinVal > 1e-4f) {

src/main/common/utils.h

@@ -90,10 +90,9 @@ static inline int32_t cmp32(uint32_t a, uint32_t b) { return a-b; }
 
 // using memcpy_fn will force memcpy function call, instead of inlining it. In most cases function call takes fewer instructions
 //  than inlined version (inlining is cheaper for very small moves < 8 bytes / 2 store instructions)
-#ifdef UNIT_TEST
-// Call memcpy when building unittest - this is easier that asm symbol name mangling (symbols start with _underscore on win32)
+#if defined(UNIT_TEST) || defined(SITL_BUILD)
 #include <string.h>
-static inline void  memcpy_fn(void *destination, const void *source, size_t num) { memcpy(destination, source, num); };
+#define memcpy_fn(destination, source, num) memcpy(destination, source, num)
 #else
 void *memcpy_fn(void *destination, const void *source, size_t num) asm("memcpy");
 #endif

src/main/drivers/rangefinder/rangefinder_vl53l0x.c

@@ -367,7 +367,7 @@ uint16_t encodeTimeout(uint16_t timeout_mclks)
 // Defaults to 0.25 MCPS as initialized by the ST API and this library.
 bool setSignalRateLimit(busDevice_t * busDev, float limit_Mcps)
 {
-    if (limit_Mcps < 0 || limit_Mcps > 511.99) {
+    if (limit_Mcps < 0 || limit_Mcps > 511.99f) {
         return false;
     }
 

src/main/fc/fc_core.c

@@ -983,12 +983,12 @@ void taskUpdateRxMain(timeUs_t currentTimeUs)
 }
 
 // returns seconds
-float getFlightTime()
+float getFlightTime(void)
 {
     return US2S(flightTime);
 }
 
-float getArmTime()
+float getArmTime(void)
 {
     return US2S(armTime);
 }

src/main/fc/runtime_config.c

@@ -179,7 +179,7 @@ flightModeForTelemetry_e getFlightModeForTelemetry(void)
 
 #ifdef USE_SIMULATOR
 simulatorData_t simulatorData = {
-	flags: 0,
-	debugIndex: 0
+	.flags = 0,
+	.debugIndex = 0
 };
 #endif

src/main/fc/stats.c

@@ -36,7 +36,7 @@ static uint32_t arm_distance_cm;
 static uint32_t arm_mWhDrawn;
 static uint32_t flyingEnergy; // energy drawn during flying up to last disarm (ARMED) mWh
 
-uint32_t getFlyingEnergy() {
+uint32_t getFlyingEnergy(void) {
     return flyingEnergy;
 }
 #endif

src/main/flight/imu.c

@@ -277,7 +277,7 @@ static void imuResetOrientationQuaternion(const fpVector3_t * accBF)
 
 static bool imuValidateQuaternion(const fpQuaternion_t * quat)
 {
-    const float check = fabs(quat->q0) + fabs(quat->q1) + fabs(quat->q2) + fabs(quat->q3);
+    const float check = fabsf(quat->q0) + fabsf(quat->q1) + fabsf(quat->q2) + fabsf(quat->q3);
 
     if (!isnan(check) && !isinf(check)) {
         return true;
@@ -480,7 +480,7 @@ static void imuMahonyAHRSupdate(float dt, const fpVector3_t * gyroBF, const fpVe
     const float thetaMagnitudeSq = vectorNormSquared(&vTheta);
 
     // If calculated rotation is zero - don't update quaternion
-    if (thetaMagnitudeSq >= 1e-20) {
+    if (thetaMagnitudeSq >= 1e-20f) {
         // Calculate quaternion delta:
         // Theta is a axis/angle rotation. Direction of a vector is axis, magnitude is angle/2.
         // Proper quaternion from axis/angle involves computing sin/cos, but the formula becomes numerically unstable as Theta approaches zero.

src/main/flight/mixer.c

@@ -461,7 +461,7 @@ static int getReversibleMotorsThrottleDeadband(void)
     return feature(FEATURE_MOTOR_STOP) ? reversibleMotorsConfig()->neutral : directionValue;
 }
 
-void FAST_CODE mixTable()
+void FAST_CODE mixTable(void)
 {
 #ifdef USE_DSHOT
     if (FLIGHT_MODE(TURTLE_MODE)) {

src/main/flight/pid.c

@@ -477,7 +477,7 @@ void schedulePidGainsUpdate(void)
     pidGainsUpdateRequired = true;
 }
 
-void updatePIDCoefficients()
+void updatePIDCoefficients(void)
 {
     STATIC_FASTRAM uint16_t prevThrottle = 0;
 
@@ -864,7 +864,7 @@ void resetHeadingHoldTarget(int16_t heading)
     pt1FilterReset(&headingHoldRateFilter, 0.0f);
 }
 
-int16_t getHeadingHoldTarget() {
+int16_t getHeadingHoldTarget(void) {
     return headingHoldTarget;
 }
 

src/main/flight/power_limits.c

@@ -162,14 +162,14 @@ void powerLimiterApply(int16_t *throttleCommand) {
     int32_t overCurrent = current - activeCurrentLimit;
 
     if (lastCallTimestamp) {
-        currentThrAttnIntegrator = constrainf(currentThrAttnIntegrator + overCurrent * powerLimitsConfig()->piI * callTimeDelta * 2e-7, 0, PWM_RANGE_MAX - PWM_RANGE_MIN);
+        currentThrAttnIntegrator = constrainf(currentThrAttnIntegrator + overCurrent * powerLimitsConfig()->piI * callTimeDelta * 2e-7f, 0, PWM_RANGE_MAX - PWM_RANGE_MIN);
     }
 
-    float currentThrAttnProportional = MAX(0, overCurrent) * powerLimitsConfig()->piP * 1e-3;
+    float currentThrAttnProportional = MAX(0, overCurrent) * powerLimitsConfig()->piP * 1e-3f;
 
-    uint16_t currentThrAttn = lrintf(pt1FilterApply3(&currentThrAttnFilter, currentThrAttnProportional + currentThrAttnIntegrator, callTimeDelta * 1e-6));
+    uint16_t currentThrAttn = lrintf(pt1FilterApply3(&currentThrAttnFilter, currentThrAttnProportional + currentThrAttnIntegrator, callTimeDelta * 1e-6f));
 
-    throttleBase = wasLimitingCurrent ? lrintf(pt1FilterApply3(&currentThrLimitingBaseFilter, *throttleCommand, callTimeDelta * 1e-6)) : *throttleCommand;
+    throttleBase = wasLimitingCurrent ? lrintf(pt1FilterApply3(&currentThrLimitingBaseFilter, *throttleCommand, callTimeDelta * 1e-6f)) : *throttleCommand;
     uint16_t currentThrAttned = MAX(PWM_RANGE_MIN, (int16_t)throttleBase - currentThrAttn);
 
     if (activeCurrentLimit && currentThrAttned < *throttleCommand) {
@@ -191,12 +191,12 @@ void powerLimiterApply(int16_t *throttleCommand) {
     int32_t overPower = power - activePowerLimit;
 
     if (lastCallTimestamp) {
-        powerThrAttnIntegrator = constrainf(powerThrAttnIntegrator + overPower * powerLimitsConfig()->piI * callTimeDelta / voltage * 2e-5, 0, PWM_RANGE_MAX - PWM_RANGE_MIN);
+        powerThrAttnIntegrator = constrainf(powerThrAttnIntegrator + overPower * powerLimitsConfig()->piI * callTimeDelta / voltage * 2e-5f, 0, PWM_RANGE_MAX - PWM_RANGE_MIN);
     }
 
-    float powerThrAttnProportional = MAX(0, overPower) * powerLimitsConfig()->piP / voltage * 1e-1;
+    float powerThrAttnProportional = MAX(0, overPower) * powerLimitsConfig()->piP / voltage * 1e-1f;
 
-    uint16_t powerThrAttn = lrintf(pt1FilterApply3(&powerThrAttnFilter, powerThrAttnProportional + powerThrAttnIntegrator, callTimeDelta * 1e-6));
+    uint16_t powerThrAttn = lrintf(pt1FilterApply3(&powerThrAttnFilter, powerThrAttnProportional + powerThrAttnIntegrator, callTimeDelta * 1e-6f));
 
     throttleBase = wasLimitingPower ? lrintf(pt1FilterApply3(&powerThrLimitingBaseFilter, *throttleCommand, callTimeDelta * 1e-6)) : *throttleCommand;
     uint16_t powerThrAttned = MAX(PWM_RANGE_MIN, (int16_t)throttleBase - powerThrAttn);
@@ -244,11 +244,11 @@ bool powerLimiterIsLimitingPower(void) {
 // returns seconds
 float powerLimiterGetRemainingBurstTime(void) {
     uint16_t currentBurstOverContinuous = currentBatteryProfile->powerLimits.burstCurrent - currentBatteryProfile->powerLimits.continuousCurrent;
-    float remainingCurrentBurstTime = burstCurrentReserve / currentBurstOverContinuous / 1e7;
+    float remainingCurrentBurstTime = burstCurrentReserve / currentBurstOverContinuous / 1e7f;
 
 #ifdef USE_ADC
     uint16_t powerBurstOverContinuous = currentBatteryProfile->powerLimits.burstPower - currentBatteryProfile->powerLimits.continuousPower;
-    float remainingPowerBurstTime = burstPowerReserve / powerBurstOverContinuous / 1e7;
+    float remainingPowerBurstTime = burstPowerReserve / powerBurstOverContinuous / 1e7f;
 
     if (!currentBatteryProfile->powerLimits.continuousCurrent) {
         return remainingPowerBurstTime;

src/main/flight/rth_estimator.c

@@ -150,7 +150,7 @@ static float calculateRemainingEnergyBeforeRTH(bool takeWindIntoAccount) {
 
     float RTH_heading; // degrees
 #ifdef USE_WIND_ESTIMATOR
-    uint16_t windHeading; // centidegrees
+    uint16_t windHeading = 0; // centidegrees
     const float horizontalWindSpeed = takeWindIntoAccount ? getEstimatedHorizontalWindSpeed(&windHeading) / 100 : 0; // m/s
     const float windHeadingDegrees = CENTIDEGREES_TO_DEGREES((float)windHeading);
     const float verticalWindSpeed = -getEstimatedWindSpeed(Z) / 100; //from NED to NEU

src/main/flight/smith_predictor.c

@@ -54,7 +54,7 @@ float applySmithPredictor(uint8_t axis, smithPredictor_t *predictor, float sampl
 }
 
 void smithPredictorInit(smithPredictor_t *predictor, float delay, float strength, uint16_t filterLpfHz, uint32_t looptime) {
-    if (delay > 0.1) {
+    if (delay > 0.1f) {
         predictor->enabled = true;
         predictor->samples = (delay * 1000) / looptime;
         predictor->idx = 0;

src/main/io/dashboard.c

@@ -400,7 +400,7 @@ static void showStatusPage(void)
 
 #ifdef USE_MAG
     if (sensors(SENSOR_MAG)) {
-        tfp_sprintf(lineBuffer, "HDG: %d", DECIDEGREES_TO_DEGREES(attitude.values.yaw));
+        tfp_sprintf(lineBuffer, "HDG: %d", (int)DECIDEGREES_TO_DEGREES(attitude.values.yaw));
         padHalfLineBuffer();
         i2c_OLED_set_line(rowIndex);
         i2c_OLED_send_string(lineBuffer);