fix compiler warnings, and a bug was hiding in there also.

AirLib/include/common/Common.hpp

@@ -77,11 +77,15 @@ static void logWarning(const char* format, ...)
     va_list args;
     va_start(args, format);
 
+    IGNORE_FORMAT_STRING_ON
     auto size = _vscprintf(format, args) + 1U;
+    IGNORE_FORMAT_STRING_OFF
     std::unique_ptr<char[]> buf(new char[size] ); 
 
 #ifndef _MSC_VER
+    IGNORE_FORMAT_STRING_ON
     vsnprintf(buf.get(), size, format, args);
+    IGNORE_FORMAT_STRING_OFF
 #else
     vsnprintf_s(buf.get(), size, _TRUNCATE, format, args);
 #endif
@@ -94,12 +98,15 @@ static void logError(const char* format, ...)
 {
     va_list args;
     va_start(args, format);
-
+    IGNORE_FORMAT_STRING_ON
     auto size = _vscprintf(format, args) + 1U;
+    IGNORE_FORMAT_STRING_OFF
     std::unique_ptr<char[]> buf(new char[size] ); 
 
 #ifndef _MSC_VER
+    IGNORE_FORMAT_STRING_ON
     vsnprintf(buf.get(), size, format, args);
+    IGNORE_FORMAT_STRING_OFF
 #else
     vsnprintf_s(buf.get(), size, _TRUNCATE, format, args);
 #endif

AirLib/include/common/FrequencyLimiter.hpp

@@ -14,6 +14,7 @@ class FrequencyLimiter : UpdatableObject {
 public:
     FrequencyLimiter(real_T frequency = Utils::max<float>(), real_T startup_delay = 0)
     {
+        startup_delay; // avoid warning: unused parameter
         initialize(frequency);
     }
 

AirLib/include/common/StateReporter.hpp

@@ -54,6 +54,8 @@ class StateReporter {
     //TODO: need better line end handling
     void startHeading(string heading, uint heading_size, uint columns = 20)
     {
+        heading_size; // avoid warning: unused parameter
+        columns; // avoid warning: unused parameter
         ss_ << "\n";
         ss_ << heading;
     }

AirLib/include/common/UpdatableObject.hpp

@@ -17,6 +17,7 @@ class UpdatableObject {
 
     virtual void reportState(StateReporter& reporter)
     {
+        reporter; // avoid warning: unused parameter
         //default implementation doesn't do anything
     }
 

AirLib/include/common/VectorMath.hpp

@@ -143,6 +143,7 @@ class VectorMathT {
 
     static Vector3T rotateVector(const Vector3T& v, const QuaternionT& q, bool assume_unit_quat)
     {
+        assume_unit_quat; // stop warning: unused parameter.
         //More performant method is at http://gamedev.stackexchange.com/a/50545/20758
         //QuaternionT vq(0, v.x(), v.y(), v.z());
         //QuaternionT qi = assume_unit_quat ? q.conjugate() : q.inverse();

AirLib/include/common/common_utils/AsyncTasker.hpp

@@ -10,7 +10,9 @@
 class AsyncTasker {
 public:
     AsyncTasker(unsigned int thread_count = 4)
-        : threads_(thread_count), error_handler_([](std::exception e) {})
+        : threads_(thread_count), error_handler_([](std::exception e) {
+        e; // avoid warning: unused parameter
+    })
     {
     }
 
@@ -27,6 +29,7 @@ class AsyncTasker {
         {
             threads_.push([=](int i) {
                 try {
+                    i; // avoid warning: unused parameter
                     func();
                 }
                 catch (std::exception& e) {
@@ -37,6 +40,7 @@ class AsyncTasker {
         else {
             threads_.push([=](int i) {
                 try {
+                    i; // avoid warning: unused parameter
                     for (unsigned int itr = 0; itr < iterations; ++itr) {
                         func();
                     }

AirLib/include/common/common_utils/StrictMode.hpp

@@ -9,13 +9,64 @@
 #define STRICT_MODE_ON                                            \
     __pragma(warning(pop))										  
 
+#define IGNORE_FORMAT_STRING_ON
+
+#define IGNORE_FORMAT_STRING_OFF
+
 //TODO: limit scope of below statements required to suppress VC++ warnings
 #define _CRT_SECURE_NO_WARNINGS 1
 #pragma warning(disable:4996)
 #endif
 
+// special way to quiet the warning:  warning: format string is not a string literal
+#ifdef __CLANG__
+#define IGNORE_FORMAT_STRING_ON                                       \
+    _Pragma("clang diagnostic push")                                  \
+    _Pragma("clang diagnostic ignored \"-Wformat-nonliteral\"")        
+
+#define IGNORE_FORMAT_STRING_OFF                                      \
+    _Pragma("clang diagnostic pop")          
+#else
+#ifdef __GNUC__
+#define IGNORE_FORMAT_STRING_ON                                           \
+    _Pragma("gcc diagnostic push")                                  \
+    _Pragma("gcc diagnostic ignored \"-Wformat-nonliteral\"")        
+
+#define IGNORE_FORMAT_STRING_OFF                                      \
+    _Pragma("gcc diagnostic pop")          
+#endif
+#endif
+
 // Please keep this list sorted so it is easier to find stuff, also make sure there 
 // is no whitespace after the traling \, GCC doesn't like that.
+#ifdef __CLANG__
+#define STRICT_MODE_OFF                                           \
+    _Pragma("clang diagnostic push")                                  \
+    _Pragma("clang diagnostic ignored \"-Wctor-dtor-privacy\"")        \
+    _Pragma("clang diagnostic ignored \"-Wdelete-non-virtual-dtor\"") \
+    _Pragma("clang diagnostic ignored \"-Wmissing-field-initializers\"") \
+    _Pragma("clang diagnostic ignored \"-Wold-style-cast\"")          \
+    _Pragma("clang diagnostic ignored \"-Wredundant-decls\"")         \
+    _Pragma("clang diagnostic ignored \"-Wreturn-type\"")             \
+    _Pragma("clang diagnostic ignored \"-Wshadow\"")                  \
+    _Pragma("clang diagnostic ignored \"-Wstrict-overflow\"")         \
+    _Pragma("clang diagnostic ignored \"-Wswitch-default\"")          \
+    _Pragma("clang diagnostic ignored \"-Wundef\"")                   \
+    _Pragma("clang diagnostic ignored \"-Wunused-parameter\"")
+
+/* Addition options that can be enabled
+_Pragma("clang diagnostic ignored \"-Wpedantic\"")                \
+_Pragma("clang diagnostic ignored \"-Wformat=\"")                 \
+_Pragma("clang diagnostic ignored \"-Werror\"")                   \
+_Pragma("clang diagnostic ignored \"-Werror=\"")                  \
+_Pragma("clang diagnostic ignored \"-Wunused-variable\"")         \
+*/
+
+#define STRICT_MODE_ON                                            \
+    _Pragma("clang diagnostic pop")          
+
+
+#else
 #ifdef __GNUC__
 #define STRICT_MODE_OFF                                           \
     _Pragma("GCC diagnostic push")                                  \
@@ -32,17 +83,18 @@
     _Pragma("GCC diagnostic ignored \"-Wundef\"")                   \
     _Pragma("GCC diagnostic ignored \"-Wunused-parameter\"")
 
-/* Addition options that can be enabled 
-    _Pragma("GCC diagnostic ignored \"-Wpedantic\"")                \
-    _Pragma("GCC diagnostic ignored \"-Wformat=\"")                 \
-    _Pragma("GCC diagnostic ignored \"-Werror\"")                   \
-    _Pragma("GCC diagnostic ignored \"-Werror=\"")                  \
-    _Pragma("GCC diagnostic ignored \"-Wunused-variable\"")         \
+/* Addition options that can be enabled
+_Pragma("GCC diagnostic ignored \"-Wpedantic\"")                \
+_Pragma("GCC diagnostic ignored \"-Wformat=\"")                 \
+_Pragma("GCC diagnostic ignored \"-Werror\"")                   \
+_Pragma("GCC diagnostic ignored \"-Werror=\"")                  \
+_Pragma("GCC diagnostic ignored \"-Wunused-variable\"")         \
 */
 
 #define STRICT_MODE_ON                                            \
     _Pragma("GCC diagnostic pop")          
 #endif
 
+#endif
 
 #endif

AirLib/include/common/common_utils/Utils.hpp

@@ -71,7 +71,9 @@ static int _vscprintf(const char * format, va_list pargs)
     int retval;
     va_list argcopy;
     va_copy(argcopy, pargs);
+    IGNORE_FORMAT_STRING_ON
     retval = vsnprintf(NULL, 0, format, argcopy);
+    IGNORE_FORMAT_STRING_OFF
     va_end(argcopy);
     return retval;
 }
@@ -129,7 +131,9 @@ class Utils {
         std::unique_ptr<char[]> buf(new char[size]);
 
 #ifndef _MSC_VER
+        IGNORE_FORMAT_STRING_ON
         vsnprintf(buf.get(), size, format, args);
+        IGNORE_FORMAT_STRING_OFF
 #else
         vsnprintf_s(buf.get(), size, _TRUNCATE, format, args);
 #endif
@@ -146,7 +150,9 @@ class Utils {
         std::unique_ptr<char[]> buf(new char[size]);
 
 #ifndef _MSC_VER
+        IGNORE_FORMAT_STRING_ON
         vsnprintf(buf.get(), size, format, args);
+        IGNORE_FORMAT_STRING_OFF
 #else
         vsnprintf_s(buf.get(), size, _TRUNCATE, format, args);
 #endif
@@ -218,11 +224,15 @@ class Utils {
         va_list args;
         va_start(args, format);
 
+        IGNORE_FORMAT_STRING_ON
         auto size = _vscprintf(format, args) + 1U;
+        IGNORE_FORMAT_STRING_OFF
         std::unique_ptr<char[]> buf(new char[size] ); 
 
         #ifndef _MSC_VER
+            IGNORE_FORMAT_STRING_ON
             vsnprintf(buf.get(), size, format, args);
+            IGNORE_FORMAT_STRING_OFF
         #else
             vsnprintf_s(buf.get(), size, _TRUNCATE, format, args);
         #endif

AirLib/include/controllers/ControllerBase.hpp

@@ -30,6 +30,7 @@ class ControllerBase : public UpdatableObject {
 
     virtual void getStatusMessages(std::vector<std::string>& messages)
     {
+        messages; // avoid warning: unused parameter
         //default implementation
     }
 
@@ -46,6 +47,7 @@ class ControllerBase : public UpdatableObject {
 
     virtual void reportTelemetry(float renderTime)
     {
+        renderTime; // avoid warning: unused parameter
         //no default action
     }
 

AirLib/include/controllers/rosflight/firmware/commonstate.hpp

@@ -42,12 +42,15 @@ class CommonState {
     {
         va_list args;
         va_start(args, format);
-
+        IGNORE_FORMAT_STRING_ON
         auto size = _vscprintf(format, args) + 1U;
+        IGNORE_FORMAT_STRING_OFF
         std::unique_ptr<char[]> buf(new char[size] ); 
 
 #ifndef _MSC_VER
+        IGNORE_FORMAT_STRING_ON
         vsnprintf(buf.get(), size, format, args);
+        IGNORE_FORMAT_STRING_OFF
 #else
         vsnprintf_s(buf.get(), size, _TRUNCATE, format, args);
 #endif
@@ -63,8 +66,10 @@ class CommonState {
     {
         int retval;
         va_list argcopy;
-        va_copy(argcopy, pargs);
+        va_copy(argcopy, pargs); 
+        IGNORE_FORMAT_STRING_ON
         retval = vsnprintf(NULL, 0, format, argcopy);
+        IGNORE_FORMAT_STRING_OFF
         va_end(argcopy);
         return retval;
     }

AirLib/include/physics/Environment.hpp

@@ -86,6 +86,8 @@ class Environment : public UpdatableObject {
 private:
     static void updateState(State& state, real_T dt, const EarthUtils::HomeGeoPoint& home_geo_point)
     {
+        dt; // avoid warning: unused parameter
+
         state.geo_point = EarthUtils::nedToGeodetic(state.position, home_geo_point);
 
         real_T geo_pot = EarthUtils::getGeopotential(state.geo_point.altitude / 1000.0f);

AirLib/include/physics/Kinematics.hpp

@@ -47,6 +47,7 @@ class Kinematics : public UpdatableObject {
 
     virtual void update(real_T dt) override
     {
+        dt; // avoid warning: unused parameter
         //nothing to do because next state should be updated 
         //by physics engine. The reason is that final state
         //needs to take in to account state of other objects as well,

AirLib/include/sensors/gps/GpsSimple.hpp

@@ -63,6 +63,7 @@ class GpsSimple : public GpsBase {
 private:
     void addOutputToDelayLine(real_T eph, real_T epv, real_T dt)
     {
+        dt; // avoid warning: unused parameter
         Output output;
         const GroundTruth& ground_truth = getGroundTruth();
 

AirLib/include/sensors/magnetometer/MagnetometerSimple.hpp

@@ -58,6 +58,7 @@ class MagnetometerSimple : public MagnetometerBase {
     }
     void updateOutput(real_T dt)
     {
+        dt; // avoid warning: unused parameter
         Output output;
         const GroundTruth& ground_truth = getGroundTruth();
 

AirLib/include/vehicles/MultiRotor.hpp

@@ -178,6 +178,8 @@ class MultiRotor : public PhysicsBody {
 
     void updateSensors(MultiRotorParams& params, const Kinematics::State& state, const Environment& environment, real_T dt)
     {
+        state; // avoid warning: unused parameter
+        environment; // avoid warning: unused parameter
         params.getSensors().update(dt);
     }
 

AirLib/include/vehicles/MultiRotorParams.hpp

@@ -106,7 +106,6 @@ class MultiRotorParams {
 	static void initializeRotorQuadX(vector<RotorPose>& rotor_poses /* the result we are building */,
 		uint rotor_count /* must be 4 */, 
 		real_T arm_lengths[], 
-		real_T arm_angles[], 
 		real_T rotor_z /* z relative to center of gravity */)
 	{
 		Vector3r unit_z(0, 0, -1);  //NED frame

AirLib/include/vehicles/Rotor.hpp

@@ -106,6 +106,7 @@ class Rotor : public PhysicsBodyVertex {
 protected:
     virtual void setWrench(Wrench& wrench, real_T dt) override
     {
+        dt; // avoid warning: unused parameter
         Vector3r normal = getNormal();
         //forces and torques are proportional to air density: http://physics.stackexchange.com/a/32013/14061
         wrench.force = normal * output_.thrust * air_density_ratio_;
@@ -115,6 +116,7 @@ class Rotor : public PhysicsBodyVertex {
 private: //methods
     static void setOutput(Output& output, const RotorParams& params, const FirstOrderFilter<real_T>& control_signal_filter, RotorTurningDirection turning_direction, real_T dt)
     {
+        dt; // avoid warning: unused parameter
         output.control_signal_input = control_signal_filter.getInput();
         output.control_signal_filtered = control_signal_filter.getOutput();
         //see relationship of rotation speed with thrust: http://physics.stackexchange.com/a/32013/14061

AirLib/include/vehicles/configs/FlamewheelQuadX.hpp

@@ -25,7 +25,6 @@ class FlamewheelQuadX : public MultiRotorParams {
         //dimensions are for F450 frame: http://artofcircuits.com/product/quadcopter-frame-hj450-with-power-distribution
         params.rotor_count = 4;
         std::vector<real_T> arm_lengths(params.rotor_count, 0.225f);
-        std::vector<real_T> arm_angles(params.rotor_count, 45);
 
         //set up mass
         params.mass = 1.635f; 
@@ -44,7 +43,7 @@ class FlamewheelQuadX : public MultiRotorParams {
         real_T rotor_z = 0.15f;
 
         //computer rotor poses
-        initializeRotorQuadX(params.rotor_poses, params.rotor_count, arm_lengths.data(), arm_angles.data(), rotor_z);
+        initializeRotorQuadX(params.rotor_poses, params.rotor_count, arm_lengths.data(), rotor_z);
         //compute inertia matrix
         computeInertiaMatrix(params.inertia, params.body_box, params.rotor_poses, box_mass, motor_assembly_weight);
         //create sensors

AirLib/include/vehicles/configs/Px4HILQuadX.hpp

@@ -25,7 +25,6 @@ class Px4HILQuadX : public MultiRotorParams {
         //dimensions are for F450 frame: http://artofcircuits.com/product/quadcopter-frame-hj450-with-power-distribution
         params.rotor_count = 4;
         std::vector<real_T> arm_lengths(params.rotor_count, 0.2275f);
-		std::vector<real_T> arm_angles(params.rotor_count, 45);
 
 		//set up mass
         params.mass = 1.0f; //can be varied from 0.800 to 1.600
@@ -41,7 +40,7 @@ class Px4HILQuadX : public MultiRotorParams {
         real_T rotor_z = 2.5f / 100;
 
 		//computer rotor poses
-		initializeRotorQuadX(params.rotor_poses, params.rotor_count, arm_lengths.data(), arm_angles.data(), rotor_z);
+		initializeRotorQuadX(params.rotor_poses, params.rotor_count, arm_lengths.data(), rotor_z);
 		//compute inertia matrix
         computeInertiaMatrix(params.inertia, params.body_box, params.rotor_poses, box_mass, motor_assembly_weight);
         //create sensors

AirLib/src/controllers/DroneControllerBase.cpp

@@ -30,6 +30,7 @@ float DroneControllerBase::getAutoLookahead(float velocity, float adaptive_looka
 
 float DroneControllerBase::getObsAvoidanceVelocity(float risk_dist, float max_obs_avoidance_vel)
 {
+    risk_dist; // avoid warning: unused parameter
     return max_obs_avoidance_vel;
 }
 
@@ -605,6 +606,8 @@ void DroneControllerBase::adjustYaw(float x, float y, DrivetrainType drivetrain,
 
 void DroneControllerBase::moveToPathPosition(const Vector3r& dest, float velocity, DrivetrainType drivetrain, /* pass by value */ YawMode yaw_mode, float last_z)
 {
+    last_z; // avoid warning: unused parameter
+
     //validate dest
     if (dest.hasNaN())
         throw std::invalid_argument(VectorMath::toString(dest,"dest vector cannot have NaN: "));