Add same compilation flags as open62541

Makefile

-CPPFLAGS=-g -Wall -Wno-array-bounds -Wno-format-truncation -std=c99 -Iinclude -O2 -fPIC
-LDFLAGS+= -g
+CFLAGS=-std=c99 -pipe -Wall -Wextra -Wpedantic -Werror -Wno-overlength-strings -Wno-unused-parameter -Wc++-compat -Wformat -Wformat-security -Wformat-nonliteral -Wmissing-prototypes -Wstrict-prototypes -Wredundant-decls -Wuninitialized -Winit-self -Wcast-qual -Wstrict-overflow -Wnested-externs -Wmultichar -Wundef -fno-strict-aliasing -fexceptions -fPIC -fstack-protector-strong -fstack-clash-protection -ffunction-sections -fdata-sections -fno-unwind-tables -fno-asynchronous-unwind-tables -fno-math-errno -O3 -flto -fno-fat-lto-objects -Wshadow -Wconversion -fvisibility=hidden -fPIC
+CXXFLAGS=-pipe -Wall -Wextra -Wpedantic -Werror -Wno-overlength-strings -Wno-unused-parameter -Wformat -Wformat-security -Wformat-nonliteral -Wredundant-decls -Wuninitialized -Winit-self -Wcast-qual -Wstrict-overflow -Wmultichar -Wundef -fno-strict-aliasing -fexceptions -fPIC -fstack-protector-strong -fstack-clash-protection -ffunction-sections -fdata-sections -fno-unwind-tables -fno-asynchronous-unwind-tables -fno-math-errno -O3 -flto -fno-fat-lto-objects -Wshadow -Wconversion -fvisibility=hidden -fPIC
+LDFLAGS+= -std=c99 -pipe -Wall -Wextra -Wpedantic -Werror -Wno-static-in-inline -Wno-overlength-strings -Wno-unused-parameter -Wc++-compat -Wformat -Wformat-security -Wformat-nonliteral -Wmissing-prototypes -Wstrict-prototypes -Wredundant-decls -Wuninitialized -Winit-self -Wcast-qual -Wstrict-overflow -Wnested-externs -Wmultichar -Wundef -fno-strict-aliasing -fexceptions -fPIC -fstack-protector-strong -fstack-clash-protection -ffunction-sections -fdata-sections -fno-unwind-tables -fno-asynchronous-unwind-tables -fno-math-errno -O3 -flto -fno-fat-lto-objects -Wshadow -Wconversion -fvisibility=hidden -fPIC
 LIBS=-lstdc++ -lmavsdk -lmavsdk_action -lmavsdk_mavlink_passthrough -lmavsdk_telemetry -lopen62541
 
 LIB_NAME := libqjswrapper.so

include/mavsdk_wrapper.h

@@ -12,19 +12,19 @@ int mavsdk_reboot(void);
 
 // Flight state management functions
 int mavsdk_arm(void);
-int mavsdk_doParachute(int param);
+int mavsdk_doParachute(float param);
 int mavsdk_loiter();
 int mavsdk_land(void);
 int mavsdk_takeOff(void);
 int mavsdk_takeOffAndWait(void);
 
 // Flight management functions
-int mavsdk_doReposition(double la, double lo, double a, double y);
-int mavsdk_setAirspeed(double airspeed);
-int mavsdk_setAltitude(double altitude);
-int mavsdk_setTargetAltitude(double a);
-int mavsdk_setTargetCoordinates(double la, double lo, double a, double y);
-int mavsdk_setTargetCoordinatesXYZ(double x, double y, double z);
+int mavsdk_doReposition(float la, float lo, float a, float y);
+int mavsdk_setAirspeed(float airspeed);
+int mavsdk_setAltitude(float altitude);
+int mavsdk_setTargetAltitude(float a);
+int mavsdk_setTargetCoordinates(double la, double lo, float a, float y);
+int mavsdk_setTargetCoordinatesXYZ(double x, double y, float z);
 int mavsdk_setTargetLatLong(double la, double lo);
 
 // Information functions

include/pubsub.h

@@ -4,13 +4,17 @@
 #include <open62541/server.h>
 #include <open62541/plugin/log_stdout.h>
 
+#include <quickjs/quickjs.h>
+
+#define DLL_PUBLIC __attribute__ ((visibility ("default")))
+
 #define countof(x) (sizeof(x) / sizeof((x)[0]))
 
 #define DATA_SET_WRITER_ID 1
 #define WRITER_GROUP_ID 1
 
 typedef struct {
-    int id;
+    UA_UInt16 id;
     UA_Double latitude;
     UA_UInt32 latitudeId;
     UA_Double longitude;
@@ -40,18 +44,26 @@ typedef struct {
 
 int runPubsub(UA_String *transportProfile,
               UA_NetworkAddressUrlDataType *networkAddressUrl,
-              VariableData *variableArray, int nbVariable, 
-              int id, int nbReader,
-              void (*init_node_id)(UA_UInt32 id, int nb, int magic),
-              int (*get_reader_id)(int nb),
+              VariableData *variableArray, size_t nbVariable, 
+              UA_UInt32 id, UA_UInt32 nbReader,
+              void (*init_node_id)(UA_UInt32 id, UA_UInt32 nb, UA_UInt32 magic),
+              UA_UInt16 (*get_reader_id)(UA_UInt32 nb),
               VariableData (*get_value)(UA_String identifier),
               void (*update)(UA_UInt32 id, const UA_DataValue*),
               UA_Boolean *running);
 
 UA_UInt32 getLastCheckpoint(void);
 
+UA_UInt16 get_drone_id(UA_UInt32 nb);
+
+void init_node_id(UA_UInt32 id, UA_UInt32 nb, UA_UInt32 magic);
+
+void pubsub_update_coordinates(UA_UInt32 id, const UA_DataValue *var);
+
 VariableData pubsub_get_value(UA_String identifier);
 
 void stop_pubsub(void);
 
+DLL_PUBLIC JSModuleDef *js_init_module(JSContext *ctx, const char *module_name);
+
 #endif /* __PUBSUB_H__ */

mavsdk_wrapper.cpp

@@ -214,7 +214,7 @@ int mavsdk_arm(void) {
     return doAction(&Action::arm, "Arming failed");
 }
 
-int mavsdk_doParachute(int param) {
+int mavsdk_doParachute(float param) {
     if(!mavsdk_started)
         return -1;
 
@@ -251,9 +251,9 @@ int mavsdk_loiter() {
     if(!mavsdk_started)
         return -1;
 
-    return mavsdk_doReposition((float)position.latitude_deg,
-                               (float)position.longitude_deg,
-                               position.absolute_altitude_m, 0);
+    return mavsdk_doReposition((float)mavsdk_getLatitude(),
+                               (float)mavsdk_getLongitude(),
+                               mavsdk_getAltitude(), 0);
 }
 
 int mavsdk_takeOff(void) {
@@ -282,7 +282,7 @@ int mavsdk_takeOffAndWait(void) {
 
 // Flight management functions
 
-int mavsdk_doReposition(double la, double lo, double a, double y) {
+int mavsdk_doReposition(float la, float lo, float a, float y) {
     if(!mavsdk_started)
         return -1;
 
@@ -300,7 +300,7 @@ int mavsdk_doReposition(double la, double lo, double a, double y) {
     return doMavlinkCommand(command, "Reposition failed");
 }
 
-int mavsdk_setAirspeed(double airspeed) {
+int mavsdk_setAirspeed(float airspeed) {
     if(!mavsdk_started)
         return -1;
 
@@ -308,14 +308,14 @@ int mavsdk_setAirspeed(double airspeed) {
     command.command = MAV_CMD_DO_OVERRIDE;
     command.param1 = 1 | 2 | 4 | 8;
     command.param2 = 2 | 4 | 8;
-    command.param3 = (float) airspeed;
+    command.param3 = airspeed;
     command.target_sysid = mavlink_passthrough->get_target_sysid();
     command.target_compid = mavlink_passthrough->get_target_compid();
 
     return doMavlinkCommand(command, "Setting airspeed failed");
 }
 
-int mavsdk_setAltitude(double altitude) {
+int mavsdk_setAltitude(float altitude) {
     if(!mavsdk_started)
         return -1;
 
@@ -323,14 +323,14 @@ int mavsdk_setAltitude(double altitude) {
     command.command = MAV_CMD_DO_OVERRIDE;
     command.param1 = 1 | 2 | 4 | 8;
     command.param2 = 1 | 2 | 8;
-    command.param3 = (float) altitude;
+    command.param3 = altitude;
     command.target_sysid = mavlink_passthrough->get_target_sysid();
     command.target_compid = mavlink_passthrough->get_target_compid();
 
     return doMavlinkCommand(command, "Setting altitude failed");
 }
 
-int mavsdk_setTargetAltitude(double a) {
+int mavsdk_setTargetAltitude(float a) {
     if(!mavsdk_started)
         return -1;
 
@@ -345,13 +345,13 @@ int mavsdk_setTargetAltitude(double a) {
     return 0;
 }
 
-int mavsdk_setTargetCoordinates(double la, double lo, double a, double y) {
+int mavsdk_setTargetCoordinates(double la, double lo, float a, float y) {
     if(!mavsdk_started)
         return -1;
 
     std::cout << "Going to location (" << la << " , " << lo << ") "
               << a <<  " m " << std::endl;
-    const Action::Result result = action->goto_location(la, lo, (float) a, (float) y);
+    const Action::Result result = action->goto_location(la, lo, a, y);
     if (result != Action::Result::Success) {
         log_error_from_result("Goto location failed", result);
         return -1;
@@ -359,7 +359,7 @@ int mavsdk_setTargetCoordinates(double la, double lo, double a, double y) {
     return 0;
 }
 
-int mavsdk_setTargetCoordinatesXYZ(double x, double y, double z) {
+int mavsdk_setTargetCoordinatesXYZ(double x, double y, float z) {
     double la, lo;
 
     la = ((origin.latitude_deg + y / EARTH_RADIUS) * 180.F) / M_PI;
@@ -369,7 +369,7 @@ int mavsdk_setTargetCoordinatesXYZ(double x, double y, double z) {
 }
 
 int mavsdk_setTargetLatLong(double la, double lo) {
-    return mavsdk_setTargetCoordinates(la, lo, position.absolute_altitude_m, 0);
+    return mavsdk_setTargetCoordinates(la, lo, mavsdk_getAltitude(), 0);
 }
 
 // Information functions

pubsub.c

@@ -6,7 +6,6 @@
 #include "ua_pubsub.h"
 #include "pubsub.h"
 
-static UA_Server *server;
 UA_NodeId connectionIdent, publishedDataSetIdent, writerGroupIdent,
           readerGroupIdent, readerIdent;
 
@@ -17,12 +16,12 @@ static void (*callbackUpdate)(UA_UInt32, const UA_DataValue*);
 
 static void fillDataSetMetaData(UA_DataSetMetaDataType *pMetaData,
                                 VariableData *variableArray,
-                                int nbVariable, int id);
+                                size_t nbVariable, int id);
 
 static UA_StatusCode
 addPubSubConnection(UA_Server *server, UA_String *transportProfile,
                     UA_NetworkAddressUrlDataType *networkAddressUrl,
-                    int id){
+                    UA_UInt32 id){
     // 18 characters for "UDPMC Connection " + 10 characters for id <= UINT32_MAX
     char name[28];
     if((server == NULL) || (transportProfile == NULL) ||
@@ -33,7 +32,7 @@ addPubSubConnection(UA_Server *server, UA_String *transportProfile,
     UA_PubSubConnectionConfig connectionConfig;
     memset(&connectionConfig, 0, sizeof(connectionConfig));
 
-    UA_snprintf(name, sizeof(name - 1), "UDPMC Connection %d", id);
+    UA_snprintf(name, sizeof(name) - 1, "UDPMC Connection %d", id);
     connectionConfig.name = UA_STRING(name);
 
     connectionConfig.transportProfileUri = *transportProfile;
@@ -52,11 +51,11 @@ addPubSubConnection(UA_Server *server, UA_String *transportProfile,
  * other PubSub elements are directly or indirectly linked with the PDS or
  * connection. */
 static void
-addPublishedDataSet(UA_Server *server, int id) {
+addPublishedDataSet(UA_Server *server, UA_UInt32 id) {
     /* The PublishedDataSetConfig contains all necessary public
     * information for the creation of a new PublishedDataSet */
     char name[8];
-    UA_snprintf(name, sizeof(name - 1), "PDS %d", id);
+    UA_snprintf(name, sizeof(name) - 1, "PDS %d", id);
     UA_PublishedDataSetConfig publishedDataSetConfig;
     memset(&publishedDataSetConfig, 0, sizeof(UA_PublishedDataSetConfig));
     publishedDataSetConfig.publishedDataSetType = UA_PUBSUB_DATASET_PUBLISHEDITEMS;
@@ -220,7 +219,7 @@ addReaderGroup(UA_Server *server) {
 /* Add DataSetReader to the ReaderGroup */
 static UA_StatusCode
 addDataSetReader(UA_Server *server, VariableData *variableArray,
-                 int nbVariable, int id) {
+                 size_t nbVariable, int id) {
     if(server == NULL) {
         return UA_STATUSCODE_BADINTERNALERROR;
     }
@@ -250,8 +249,8 @@ dataChangeNotificationCallback(UA_Server *server, UA_UInt32 monitoredItemId,
  * Set SubscribedDataSet type to TargetVariables data type.
  * Add subscribedvariables to the DataSetReader */
 static UA_StatusCode
-addSubscribedVariables(UA_Server *server, UA_NodeId dataSetReaderId, int nb,
-                       void (*init_node_id)(UA_UInt32 id, int nb, int magic)) {
+addSubscribedVariables(UA_Server *server, UA_NodeId dataSetReaderId, UA_UInt32 nb,
+                       void (*init_node_id)(UA_UInt32 id, UA_UInt32 nb, UA_UInt32 magic)) {
     if(server == NULL)
         return UA_STATUSCODE_BADINTERNALERROR;
 
@@ -286,7 +285,7 @@ addSubscribedVariables(UA_Server *server, UA_NodeId dataSetReaderId, int nb,
     /* Create the TargetVariables with respect to DataSetMetaData fields */
     UA_FieldTargetVariable *targetVars = (UA_FieldTargetVariable *)
             UA_calloc(readerConfig.dataSetMetaData.fieldsSize, sizeof(UA_FieldTargetVariable));
-    for(size_t i = 0; i < readerConfig.dataSetMetaData.fieldsSize; i++) {
+    for(UA_UInt32 i = 0; i < readerConfig.dataSetMetaData.fieldsSize; i++) {
         /* Variable to subscribe data */
         UA_VariableAttributes vAttr = UA_VariableAttributes_default;
         UA_LocalizedText_copy(&readerConfig.dataSetMetaData.fields[i].description,
@@ -336,9 +335,9 @@ addSubscribedVariables(UA_Server *server, UA_NodeId dataSetReaderId, int nb,
 /* Define MetaData for TargetVariables */
 static void fillDataSetMetaData(UA_DataSetMetaDataType *pMetaData,
                                 VariableData *variableArray,
-                                int nbVariable, int id) {
+                                size_t nbVariable, int id) {
     char name[12];
-    UA_snprintf(name, sizeof(name - 1), "DataSet %d", id);
+    UA_snprintf(name, sizeof(name) - 1, "DataSet %d", id);
 
     if(pMetaData == NULL) {
         return;
@@ -366,13 +365,14 @@ static void fillDataSetMetaData(UA_DataSetMetaDataType *pMetaData,
 
 int runPubsub(UA_String *transportProfile,
               UA_NetworkAddressUrlDataType *networkAddressUrl,
-              VariableData *variableArray, int nbVariable, 
-              int id, int nbReader,
-              void (*init_node_id)(UA_UInt32 id, int nb, int magic),
-              int (*get_reader_id)(int nb),
+              VariableData *variableArray, size_t nbVariable, 
+              UA_UInt32 id, UA_UInt32 nbReader,
+              void (*init_node_id)(UA_UInt32 id, UA_UInt32 nb, UA_UInt32 magic),
+              UA_UInt16 (*get_reader_id)(UA_UInt32 nb),
               VariableData (*get_value)(UA_String identifier),
               void (*update)(UA_UInt32 id, const UA_DataValue*),
               UA_Boolean *running) {
+    UA_Server *server;
     UA_UInt16 publisherIdent;
     char readerName[19];
 
@@ -392,7 +392,7 @@ int runPubsub(UA_String *transportProfile,
     /* Publishing */
 
     addPublishedDataSet(server, id);
-    for(size_t i = 0; i < nbVariable; i++) {
+    for(UA_UInt32 i = 0; i < nbVariable; i++) {
         retval |= addDataSourceVariable(server, variableArray[i]);
         if (retval != UA_STATUSCODE_GOOD)
             return EXIT_FAILURE;
@@ -415,9 +415,9 @@ int runPubsub(UA_String *transportProfile,
     readerConfig.writerGroupId    = WRITER_GROUP_ID;
     readerConfig.dataSetWriterId  = DATA_SET_WRITER_ID;
 
-    for (size_t i = 0; i < nbReader; i++) {
+    for (UA_UInt32 i = 0; i < nbReader; i++) {
         publisherIdent = get_reader_id(i);
-        UA_snprintf(readerName, sizeof(readerName - 1), "DataSet Reader %d", publisherIdent);
+        UA_snprintf(readerName, sizeof(readerName) - 1, "DataSet Reader %d", publisherIdent);
         readerConfig.name = UA_STRING(readerName);
         readerConfig.publisherId.data = &publisherIdent;
 

qjs_wrapper.c

-#include <quickjs/quickjs.h>
 #include "dronedge.h"
 
 static JSClassID js_drone_class_id;
 
 static UA_Boolean pubsub_running = true;
 
-int nbDrone;
+static UA_UInt32 nbDrone;
 static JSValueConst *drone_object_id_list;
 
 static UA_UInt32 lastCheckpoint = 0;
 
-static inline int JS_ToUint16(JSContext *ctx, uint16_t *pres, JSValueConst val)
-{
-    return JS_ToInt32(ctx, (int32_t*)pres, val);
-}
-
 static void js_drone_finalizer(JSRuntime *rt, JSValue val)
 {
-    JSDroneData *s = JS_GetOpaque(val, js_drone_class_id);
+    JSDroneData *s = (JSDroneData *) JS_GetOpaque(val, js_drone_class_id);
     js_free_rt(rt, s);
 }
 
@@ -27,12 +21,14 @@ static JSValue js_drone_ctor(JSContext *ctx, JSValueConst new_target,
     JSDroneData *s;
     JSValue obj = JS_UNDEFINED;
     JSValue proto;
+    uint32_t uint32;
     
-    s = js_mallocz(ctx, sizeof(*s));
+    s = (JSDroneData *) js_mallocz(ctx, sizeof(*s));
     if (!s)
         return JS_EXCEPTION;
-    if (JS_ToInt32(ctx, &s->id, argv[0]))
+    if (JS_ToUint32(ctx, &uint32, argv[0]))
         goto fail;
+    s->id = (uint16_t)uint32;
 
     proto = JS_GetPropertyStr(ctx, new_target, "prototype");
     if (JS_IsException(proto))
@@ -53,7 +49,7 @@ static JSValue js_drone_init(JSContext *ctx, JSValueConst this_val,
                              int argc, JSValueConst *argv)
 {
     int nb;
-    JSDroneData *s = JS_GetOpaque2(ctx, this_val, js_drone_class_id);
+    JSDroneData *s = (JSDroneData *) JS_GetOpaque2(ctx, this_val, js_drone_class_id);
     if (!s)
         return JS_EXCEPTION;
     if (JS_ToInt32(ctx, &nb, argv[0]))
@@ -64,12 +60,12 @@ static JSValue js_drone_init(JSContext *ctx, JSValueConst this_val,
 
 static JSValue js_drone_get(JSContext *ctx, JSValueConst this_val, int magic)
 {
-    JSDroneData *s = JS_GetOpaque2(ctx, this_val, js_drone_class_id);
+    JSDroneData *s = (JSDroneData *) JS_GetOpaque2(ctx, this_val, js_drone_class_id);
     if (!s)
         return JS_EXCEPTION;
     switch(magic) {
         case 0:
-            return JS_NewInt32(ctx, s->id);
+            return JS_NewUint32(ctx, s->id);
         case 1:
             return JS_NewFloat64(ctx, s->latitude);
         case 2:
@@ -88,10 +84,10 @@ static JSValue js_drone_get(JSContext *ctx, JSValueConst this_val, int magic)
 static JSValue js_drone_set_checkpoint(JSContext *ctx, JSValueConst this_val,
                                        int argc, JSValueConst *argv)
 {
-    UA_UInt16 checkpoint;
-    if (JS_ToUint16(ctx, &checkpoint, argv[0]))
+    uint32_t uint32;
+    if (JS_ToUint32(ctx, &uint32, argv[0]))
         return JS_EXCEPTION;
-    lastCheckpoint = checkpoint;
+    lastCheckpoint = (uint16_t)uint32;
     return JS_UNDEFINED;
 }
 
@@ -115,8 +111,8 @@ static const JSCFunctionListEntry js_drone_proto_funcs[] = {
     JS_CFUNC_DEF("init", 1, js_drone_init),
 };
 
-int get_drone_id(int nb) {
-    JSDroneData *s = JS_GetOpaque(drone_object_id_list[nb], js_drone_class_id);
+UA_UInt16 get_drone_id(UA_UInt32 nb) {
+    JSDroneData *s = (JSDroneData *) JS_GetOpaque(drone_object_id_list[nb], js_drone_class_id);
     return s->id;
 }
 
@@ -158,8 +154,8 @@ VariableData pubsub_get_value(UA_String identifier) {
     return var_details;
 }
 
-void init_node_id(UA_UInt32 id, int nb, int magic) {
-    JSDroneData *s = JS_GetOpaque(drone_object_id_list[nb], js_drone_class_id);
+void init_node_id(UA_UInt32 id, UA_UInt32 nb, UA_UInt32 magic) {
+    JSDroneData *s = (JSDroneData *) JS_GetOpaque(drone_object_id_list[nb], js_drone_class_id);
     switch(magic) {
         case 0:
             s->latitudeId = id;
@@ -184,8 +180,8 @@ void init_node_id(UA_UInt32 id, int nb, int magic) {
 void pubsub_update_coordinates(UA_UInt32 id, const UA_DataValue *var)
 {
     JSDroneData *s;
-    for(size_t i = 0; i < nbDrone; i++) {
-        s = JS_GetOpaque(drone_object_id_list[i], js_drone_class_id);
+    for(UA_UInt32 i = 0; i < nbDrone; i++) {
+        s = (JSDroneData *) JS_GetOpaque(drone_object_id_list[i], js_drone_class_id);
         if (s->latitudeId == id) {
             s->latitude = *(UA_Double*) var->value.data;
             return;
@@ -212,8 +208,9 @@ static JSValue js_run_pubsub(JSContext *ctx, JSValueConst this_val,
     const char *ipv6;
     const char *port;
     const char *net_iface;
+    char *not_const_net_iface;
     char urlBuffer[44];
-    int id;
+    UA_UInt32 id;
     int res;
 
     ipv6 = JS_ToCString(ctx, argv[0]);
@@ -225,10 +222,11 @@ static JSValue js_run_pubsub(JSContext *ctx, JSValueConst this_val,
         UA_STRING("http://opcfoundation.org/UA-Profile/Transport/pubsub-udp-uadp");
 
     UA_NetworkAddressUrlDataType networkAddressUrl;
-    networkAddressUrl.networkInterface = UA_STRING(net_iface);
+    not_const_net_iface = strdup(net_iface);
+    networkAddressUrl.networkInterface = UA_STRING(not_const_net_iface);
     networkAddressUrl.url              = UA_STRING(urlBuffer);
 
-    if (JS_ToInt32(ctx, &id, argv[3]))
+    if (JS_ToUint32(ctx, &id, argv[3]))
         return JS_EXCEPTION;
 
     res = runPubsub(&transportProfile, &networkAddressUrl, droneVariableArray,
@@ -238,6 +236,7 @@ static JSValue js_run_pubsub(JSContext *ctx, JSValueConst this_val,
 
     JS_FreeCString(ctx, ipv6);
     JS_FreeCString(ctx, port);
+    free(not_const_net_iface);
     JS_FreeCString(ctx, net_iface);
     return JS_NewInt32(ctx, res);
 }
@@ -245,10 +244,10 @@ static JSValue js_run_pubsub(JSContext *ctx, JSValueConst this_val,
 static JSValue js_init_pubsub(JSContext *ctx, JSValueConst this_val,
                               int argc, JSValueConst *argv)
 {
-    if (JS_ToInt32(ctx, &nbDrone, argv[0]))
+    if (JS_ToUint32(ctx, &nbDrone, argv[0]))
         return JS_EXCEPTION;
 
-    drone_object_id_list = malloc(nbDrone * sizeof(JSValueConst));
+    drone_object_id_list = (JSValue *) malloc(nbDrone * sizeof(JSValueConst));
     return JS_NewInt32(ctx, 0);
 }
 
@@ -330,8 +329,8 @@ static JSValue js_mavsdk_setTargetCoordinates(JSContext *ctx,
 
     return JS_NewInt32(ctx, mavsdk_setTargetCoordinates(la_arg_double,
                                                         lo_arg_double,
-                                                        a_arg_double,
-                                                        y_arg_double));
+                                                        (float)a_arg_double,
+                                                        (float)y_arg_double));
 }
 
 static JSValue js_mavsdk_setTargetLatLong(JSContext *ctx, JSValueConst this_val,
@@ -357,7 +356,7 @@ static JSValue js_mavsdk_setAltitude(JSContext *ctx, JSValueConst this_val,
     if (JS_ToFloat64(ctx, &altitude, argv[0]))
         return JS_EXCEPTION;
 
-    return JS_NewInt32(ctx, mavsdk_setAltitude(altitude));
+    return JS_NewInt32(ctx, mavsdk_setAltitude((float)altitude));
 }
 
 static JSValue js_mavsdk_setAirspeed(JSContext *ctx, JSValueConst this_val,
@@ -368,7 +367,7 @@ static JSValue js_mavsdk_setAirspeed(JSContext *ctx, JSValueConst this_val,
     if (JS_ToFloat64(ctx, &altitude, argv[0]))
         return JS_EXCEPTION;
 
-    return JS_NewInt32(ctx, mavsdk_setAirspeed(altitude));
+    return JS_NewInt32(ctx, mavsdk_setAirspeed((float)altitude));
 }
 
 static JSValue js_mavsdk_getYaw(JSContext *ctx, JSValueConst this_val,
@@ -438,12 +437,12 @@ static JSValue js_mavsdk_loiter(JSContext *ctx, JSValueConst this_val,
 static JSValue js_mavsdk_doParachute(JSContext *ctx, JSValueConst this_val,
                                      int argc, JSValueConst *argv)
 {
-    int param;
+    double param;
 
-    if (JS_ToInt32(ctx, &param, argv[0]))
+    if (JS_ToFloat64(ctx, &param, argv[0]))
         return JS_EXCEPTION;
 
-    return JS_NewInt32(ctx, mavsdk_doParachute(param));
+    return JS_NewInt32(ctx, mavsdk_doParachute((float)param));
 }
 
 static JSValue js_mavsdk_setTargetCoordinatesXYZ(JSContext *ctx,
@@ -463,7 +462,7 @@ static JSValue js_mavsdk_setTargetCoordinatesXYZ(JSContext *ctx,
 
     return JS_NewInt32(ctx, mavsdk_setTargetCoordinatesXYZ(x_arg_double,
                                                            y_arg_double,
-                                                          z_arg_double));
+                                                           (float)z_arg_double));
 }
 
 static JSValue js_mavsdk_setTargetAltitude(JSContext *ctx, JSValueConst this_val,
@@ -474,7 +473,7 @@ static JSValue js_mavsdk_setTargetAltitude(JSContext *ctx, JSValueConst this_val
     if (JS_ToFloat64(ctx, &a_arg_double, argv[0]))
         return JS_EXCEPTION;
 
-    return JS_NewInt32(ctx, mavsdk_setTargetAltitude(a_arg_double));
+    return JS_NewInt32(ctx, mavsdk_setTargetAltitude((float)a_arg_double));
 }
 
 static JSValue js_mavsdk_takeOff(JSContext *ctx, JSValueConst this_val,