fixes for test board and misc other nits

Author: avtoku

comms/mavlink/mavlink.cpp

@@ -263,11 +263,13 @@ void Mavlink::send_sonar(uint8_t system_id,
 }
 
 
-virtual void Mavlink::send_oflow(uint8_t system_id, OpticalFlowStruct *oflow)
+void Mavlink::send_oflow(uint8_t system_id, OpticalFlowStruct *oflow)
 {
-  float timestamp = oflow->header.timestamp;
-  float x = oflow->rate[0];
-  float y - oflow->rate[1];
+  (void)system_id;
+  (void)oflow;
+  //float timestamp = oflow->header.timestamp;
+  //float x = oflow->rate[0];
+  //float y = oflow->rate[1];
   // TODO. Add Optical flow packet...
 }
 

comms/mavlink/mavlink.h

@@ -79,6 +79,7 @@ class Mavlink : public CommLinkInterface
   void send_sonar(uint8_t system_id,
                   /* TODO enum type*/ uint8_t type, float range, float max_range,
                   float min_range) override;
+  void send_oflow(uint8_t system_id, OpticalFlowStruct *oflow) override;
   void send_status(uint8_t system_id, bool armed, bool failsafe, bool rc_override, bool offboard,
                    uint8_t error_code, uint8_t control_mode, int16_t num_errors,
                    int16_t loop_time_us) override;

include/comm_manager.h

@@ -152,6 +152,7 @@ class CommManager : public CommLinkInterface::ListenerInterface, public ParamLis
   void send_diff_pressure(void);
   void send_baro(void);
   void send_sonar(void);
+  void send_oflow(void);
   void send_mag(void);
   void send_battery_status(void);
   void send_gnss(void);

src/comm_manager.cpp

@@ -424,7 +424,7 @@ void CommManager::send_baro(void)
 void CommManager::send_sonar(void)
 {
   comm_link_.send_sonar(sysid_,
-    RF_.sensors_.get_sonar()->type,
+    (uint8_t)RF_.sensors_.get_sonar()->type,
     RF_.sensors_.get_sonar()->range,
     RF_.sensors_.get_sonar()->max_range,
     RF_.sensors_.get_sonar()->min_range );

test/test_board.cpp

@@ -127,6 +127,12 @@
    (void) sonar;
    return false;
  }
+
+bool testBoard::flow_read(rosflight_firmware::OpticalFlowStruct * flow)
+ {
+   (void) flow;
+   return false;
+ }
 
  bool testBoard::gnss_read(rosflight_firmware::GnssStruct * gnss) { return false; }
 

test/test_board.h

@@ -84,6 +84,8 @@
 
    bool sonar_read(rosflight_firmware::RangeStruct * sonar) override;
 
+   bool flow_read(rosflight_firmware::OpticalFlowStruct * flow) override;
+
    // Battery
    bool battery_read(rosflight_firmware::BatteryStruct * bat) override;
    void battery_voltage_set_multiplier(double multiplier) override;