From badb9f7407f551113a93c2cd9a9e43c03812364c Mon Sep 17 00:00:00 2001
From: Chris Lovett <clovett@microsoft.com>
Date: Fri, 31 Mar 2017 19:22:26 -0700
Subject: [PATCH] Linux build fixes from madratman.

---
 .../controllers/rosflight/AirSimRosFlightBoard.hpp        | 8 ++++----
 .../controllers/rosflight/RosFlightDroneController.hpp    | 4 ++--
 AirLib/include/controllers/rosflight/firmware/mixer.hpp   | 2 +-
 AirLib/include/controllers/rosflight/firmware/sensors.hpp | 2 +-
 AirLib/include/sensors/gps/GpsSimpleParams.hpp            | 2 +-
 5 files changed, 9 insertions(+), 9 deletions(-)

diff --git a/AirLib/include/controllers/rosflight/AirSimRosFlightBoard.hpp b/AirLib/include/controllers/rosflight/AirSimRosFlightBoard.hpp
index c1161f3c64..390499036e 100644
--- a/AirLib/include/controllers/rosflight/AirSimRosFlightBoard.hpp
+++ b/AirLib/include/controllers/rosflight/AirSimRosFlightBoard.hpp
@@ -102,7 +102,7 @@ class AirSimRosFlightBoard : public rosflight::Board {
         if (index < OutputMotorCount)
             motors_pwm_[index] = value;
         else
-            throw std::exception("cannot write motor output for index > motor count");
+            throw std::runtime_error("cannot write motor output for index > motor count");
     }
 
     virtual void set_led(uint8_t index, bool is_on) override 
@@ -172,12 +172,12 @@ class AirSimRosFlightBoard : public rosflight::Board {
 
     virtual void read_diff_pressure(float& differential_pressure, float& temp, float& velocity) override 
     {
-        throw std::exception("Diff pressure sensor is not available");
+        throw std::runtime_error("Diff pressure sensor is not available");
     }
 
     virtual float read_sonar() override 
     {
-        throw std::exception("Sonar sensor is not available");
+        throw std::runtime_error("Sonar sensor is not available");
     }
 
     virtual void read_mag(int16_t mag_adc[3]) override 
@@ -256,7 +256,7 @@ class AirSimRosFlightBoard : public rosflight::Board {
     const float kAccelScale = 1.0; //as set in PARAM_ACCEL_SCALE in ROSFlight
     const float kAccelG = 9.80665f; //as set in ROSFlight sensors.c init_sensors() function
 
-    // 16.4 dps/lsb scalefactor for all Invensense devices
+    // 16.4 dps/lsb scalefactor for all Invensense devices
     const float kGyroScale = (1.0f / 16.4f) * (M_PIf / 180.0f);
 
     static constexpr uint OutputMotorCount = 16;
diff --git a/AirLib/include/controllers/rosflight/RosFlightDroneController.hpp b/AirLib/include/controllers/rosflight/RosFlightDroneController.hpp
index df19a031b3..7743d925fc 100644
--- a/AirLib/include/controllers/rosflight/RosFlightDroneController.hpp
+++ b/AirLib/include/controllers/rosflight/RosFlightDroneController.hpp
@@ -74,8 +74,8 @@ class RosFlightDroneController : public DroneControllerBase {
         case 1: index_quadx = 2; break;
         case 2: index_quadx = 3; break;
         case 3: index_quadx = 0; break;
-        default:
-            throw std::exception("Rotor index beyond 3 is not supported yet in ROSFlight firmware");
+        default:
+            throw std::runtime_error("Rotor index beyond 3 is not supported yet in ROSFlight firmware");
         }
 
         auto control_signal = board_->getMotorControlSignal(index_quadx);
diff --git a/AirLib/include/controllers/rosflight/firmware/mixer.hpp b/AirLib/include/controllers/rosflight/firmware/mixer.hpp
index becc2dde1d..b67c69f430 100644
--- a/AirLib/include/controllers/rosflight/firmware/mixer.hpp
+++ b/AirLib/include/controllers/rosflight/firmware/mixer.hpp
@@ -38,7 +38,7 @@ class Mixer {
 
 private:
     void write_motor(uint8_t index, int32_t value);
-    void Mixer::write_servo(uint8_t index, int32_t value);
+    void write_servo(uint8_t index, int32_t value);
 
 private:
     typedef enum
diff --git a/AirLib/include/controllers/rosflight/firmware/sensors.hpp b/AirLib/include/controllers/rosflight/firmware/sensors.hpp
index c11a3fed72..046d6aaf58 100644
--- a/AirLib/include/controllers/rosflight/firmware/sensors.hpp
+++ b/AirLib/include/controllers/rosflight/firmware/sensors.hpp
@@ -78,7 +78,7 @@ class Sensors {
     vector_t calib_gyro_sum = { 0.0f, 0.0f, 0.0f };
     uint16_t calib_accel_count = 0;
     vector_t calib_accel_sum = { 0.0f, 0.0f, 0.0f };
-    static constexpr vector_t gravity = { 0.0f, 0.0f, 9.80665f };
+    vector_t gravity = { 0.0f, 0.0f, 9.80665f };
     float acc_temp_sum = 0.0f;
 };
 
diff --git a/AirLib/include/sensors/gps/GpsSimpleParams.hpp b/AirLib/include/sensors/gps/GpsSimpleParams.hpp
index 59dd42d8ec..2a67476512 100644
--- a/AirLib/include/sensors/gps/GpsSimpleParams.hpp
+++ b/AirLib/include/sensors/gps/GpsSimpleParams.hpp
@@ -15,7 +15,7 @@ struct GpsSimpleParams {
     real_T eph_final = 0.3f, epv_final = 0.4f;
     real_T eph_min_3d = 3.0f, eph_min_2d = 4.0f;
 
-    real_T update_latency = 0.2f;    //sec
+    real_T update_latency = 0.1f;    //sec
     real_T update_frequency = 50;    //Hz
     real_T startup_delay = 1;        //sec
 };