From 282aa15c2eb6f6d6bed7c8dc0025b28d55115d59 Mon Sep 17 00:00:00 2001
From: pixhawk <tv@.(none)>
Date: Wed, 24 Nov 2010 10:31:54 +0100
Subject: [PATCH] Fixed MSVC2008 compilation issues

---
 src/GAudioOutput.cc               | 5 +++--
 src/MG.h                          | 2 +-
 src/comm/MAVLinkSimulationLink.cc | 6 +++---
 src/uas/UAS.cc                    | 2 +-
 src/ui/HDDisplay.cc               | 4 +++-
 src/ui/HSIDisplay.cc              | 2 +-
 src/ui/HUD.cc                     | 3 +++
 src/ui/WaypointView.cc            | 3 +++
 8 files changed, 18 insertions(+), 9 deletions(-)

diff --git a/src/GAudioOutput.cc b/src/GAudioOutput.cc
index 6d35f6215..e10d7fa4d 100644
--- a/src/GAudioOutput.cc
+++ b/src/GAudioOutput.cc
@@ -41,7 +41,8 @@ This file is part of the QGROUNDCONTROL project
 #endif
 
 // Speech synthesis is only supported with MSVC compiler
-#if _MSC_VER
+#if _MSC_VER2
+// Documentation: http://msdn.microsoft.com/en-us/library/ee125082%28v=VS.85%29.aspx
 #include <sapi.h>
 using System;
 using System.Speech.Synthesis;
@@ -111,7 +112,7 @@ bool GAudioOutput::say(QString text, int severity)
     {
 
         // Speech synthesis is only supported with MSVC compiler
-#ifdef _MSC_VER
+#ifdef _MSC_VER2
         SpeechSynthesizer synth = new SpeechSynthesizer();
         synth.SelectVoice("Microsoft Anna");
         synth.SpeakText(text.toStdString().c_str());
diff --git a/src/MG.h b/src/MG.h
index bde9c3d37..2e82de2c0 100644
--- a/src/MG.h
+++ b/src/MG.h
@@ -264,7 +264,7 @@ namespace MG
          * @param screenDiameter The screen diameter in mm, e.g. 13.3" = 338 mm.
          */
         static void setPixelSize(int horizontalResolution, int verticalResolution, double screenDiameter) {
-            pixelSize = screenDiameter / sqrt((horizontalResolution^(2)) + (verticalResolution^(2)));
+            pixelSize = screenDiameter / sqrt(static_cast<float>(horizontalResolution*horizontalResolution + verticalResolution*verticalResolution));
         }
 
     private:
diff --git a/src/comm/MAVLinkSimulationLink.cc b/src/comm/MAVLinkSimulationLink.cc
index d63474ad6..56337c48a 100644
--- a/src/comm/MAVLinkSimulationLink.cc
+++ b/src/comm/MAVLinkSimulationLink.cc
@@ -380,9 +380,9 @@ void MAVLinkSimulationLink::mainloop()
 
 
         // Move X Position
-        x = x*0.93f + 0.07f*(x+sin(QGC::groundTimeUsecs()) * 0.08f);
-        y = y*0.93f + 0.07f*(y+sin(QGC::groundTimeUsecs()) * 0.5f);
-        z = z*0.93f + 0.07f*(z+sin(QGC::groundTimeUsecs()*100000) * 0.1f);
+        x = x*0.93f + 0.07f*(x+sin(static_cast<float>(QGC::groundTimeUsecs()) * 0.08f));
+        y = y*0.93f + 0.07f*(y+sin(static_cast<float>(QGC::groundTimeUsecs()) * 0.5f));
+        z = z*0.93f + 0.07f*(z+sin(static_cast<float>(QGC::groundTimeUsecs()*0.001f)) * 0.1f);
         x = 5247273.0f;
         y = 465955.0f;
 //        x = (x > 5.0f) ? 5.0f : x;
diff --git a/src/uas/UAS.cc b/src/uas/UAS.cc
index 3b4f13618..b895e5ad9 100644
--- a/src/uas/UAS.cc
+++ b/src/uas/UAS.cc
@@ -729,7 +729,7 @@ quint64 UAS::getUnixTime(quint64 time)
     // 60 seconds
     // 1000 milliseconds
     // 1000 microseconds
-    else if (time < 1261440000000000LLU)
+    else if (time < 1261440000000000)
     {
         if (onboardTimeOffset == 0)
         {
diff --git a/src/ui/HDDisplay.cc b/src/ui/HDDisplay.cc
index 5d9a44915..1f8f11208 100644
--- a/src/ui/HDDisplay.cc
+++ b/src/ui/HDDisplay.cc
@@ -38,7 +38,9 @@ This file is part of the PIXHAWK project
 #include "HDDisplay.h"
 #include "ui_HDDisplay.h"
 #include "MG.h"
-
+#ifndef M_PI
+#define M_PI 3.14159265358979323846
+#endif
 #include <QDebug>
 
 HDDisplay::HDDisplay(QStringList* plotList, QWidget *parent) :
diff --git a/src/ui/HSIDisplay.cc b/src/ui/HSIDisplay.cc
index e7b0944df..a9a993a02 100644
--- a/src/ui/HSIDisplay.cc
+++ b/src/ui/HSIDisplay.cc
@@ -478,7 +478,7 @@ void HSIDisplay::updateSpeed(UASInterface* uas, double vx, double vy, double vz,
     this->vx = vx;
     this->vy = vy;
     this->vz = vz;
-    this->speed = sqrt(pow(vx, 2.0f) + pow(vy, 2.0f) + pow(vz, 2.0f));
+    this->speed = sqrt(pow(vx, 2.0) + pow(vy, 2.0) + pow(vz, 2.0));
 }
 
 void HSIDisplay::setBodySetpointCoordinateXY(double x, double y)
diff --git a/src/ui/HUD.cc b/src/ui/HUD.cc
index 2267a3f51..872f2b965 100644
--- a/src/ui/HUD.cc
+++ b/src/ui/HUD.cc
@@ -31,6 +31,9 @@ This file is part of the QGROUNDCONTROL project
 
 #include <QDebug>
 #include <cmath>
+#ifndef M_PI
+#define M_PI 3.14159265358979323846
+#endif
 #include <limits>
 
 #include "UASManager.h"
diff --git a/src/ui/WaypointView.cc b/src/ui/WaypointView.cc
index 7e5244a8b..6732b0b79 100644
--- a/src/ui/WaypointView.cc
+++ b/src/ui/WaypointView.cc
@@ -35,6 +35,9 @@ This file is part of the PIXHAWK project
 #include <QDebug>
 
 #include <cmath>    //M_PI
+#ifndef M_PI
+#define M_PI 3.14159265358979323846
+#endif
 
 #include "WaypointView.h"
 #include "ui_WaypointView.h"
-- 
2.22.0