jellehak/drehmflight

Teensy/Arduino flight controller and stabilization for small-scale VTOL vehicles

drehmflight's Issues

Support for ExpressLRS

Would be nice to have support for ELRS.

There are some libraries:

• https://github.com/stepinside/Arduino-CRSF

Compile warnings

There are currently some warnings when compiling.

/dRehmFlight/Versions/dRehmFlight_Teensy_BETA_1.3/dRehmFlight_Teensy_BETA_1.3.ino: In function 'void calculate_IMU_error()':
/dRehmFlight/Versions/dRehmFlight_Teensy_BETA_1.3/dRehmFlight_Teensy_BETA_1.3.ino:620:35: warning: unused variable 'MgX' [-Wunused-variable]
  620 |   int16_t AcX,AcY,AcZ,GyX,GyY,GyZ,MgX,MgY,MgZ;
      |                                   ^~~
/dRehmFlight/Versions/dRehmFlight_Teensy_BETA_1.3/dRehmFlight_Teensy_BETA_1.3.ino:620:39: warning: unused variable 'MgY' [-Wunused-variable]
  620 |   int16_t AcX,AcY,AcZ,GyX,GyY,GyZ,MgX,MgY,MgZ;
      |                                       ^~~
/dRehmFlight/Versions/dRehmFlight_Teensy_BETA_1.3/dRehmFlight_Teensy_BETA_1.3.ino:620:43: warning: unused variable 'MgZ' [-Wunused-variable]
  620 |   int16_t AcX,AcY,AcZ,GyX,GyY,GyZ,MgX,MgY,MgZ;
      |                                           ^~~
/dRehmFlight/Versions/dRehmFlight_Teensy_BETA_1.3/dRehmFlight_Teensy_BETA_1.3.ino: In function 'void getIMUdata()':
/dRehmFlight/Versions/dRehmFlight_Teensy_BETA_1.3/dRehmFlight_Teensy_BETA_1.3.ino:597:13: warning: 'MgX' is used uninitialized [-Wuninitialized]
  597 |   MagX = MgX/6.0; //uT
      |          ~~~^~~~
/dRehmFlight/Versions/dRehmFlight_Teensy_BETA_1.3/dRehmFlight_Teensy_BETA_1.3.ino:598:13: warning: 'MgY' is used uninitialized [-Wuninitialized]
  598 |   MagY = MgY/6.0;
      |          ~~~^~~~
/dRehmFlight/Versions/dRehmFlight_Teensy_BETA_1.3/dRehmFlight_Teensy_BETA_1.3.ino:599:13: warning: 'MgZ' is used uninitialized [-Wuninitialized]
  599 |   MagZ = MgZ/6.0;
      |          ~~~^~~~
/dRehmFlight/Versions/dRehmFlight_Teensy_BETA_1.3/src/TFMPlus/TFMPlus.cpp: In member function 'bool TFMPlus::getData(int16_t&, int16_t&, int16_t&)':
/dRehmFlight/Versions/dRehmFlight_Teensy_BETA_1.3/src/TFMPlus/TFMPlus.cpp:142:19: warning: 'void* memcpy(void*, const void*, size_t)' accessing 9 bytes at offsets 8 and 9 overlaps 8 bytes at offset 9 [-Wrestrict]
  142 |             memcpy( frame, frame + 1, TFMP_FRAME_SIZE);
      |             ~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/dRehmFlight/Versions/dRehmFlight_Teensy_BETA_1.3/src/TFMPlus/TFMPlus.cpp: In member function 'bool TFMPlus::sendCommand(uint32_t, uint32_t)':
/dRehmFlight/Versions/dRehmFlight_Teensy_BETA_1.3/src/TFMPlus/TFMPlus.cpp:275:19: warning: 'void* memcpy(void*, const void*, size_t)' accessing 8 bytes at offsets 18 and 19 overlaps 7 bytes at offset 19 [-Wrestrict]
  275 |             memcpy( reply, reply+1, TFMP_REPLY_SIZE);
      |             ~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~