Fix some typos

[valeriyvan]

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[qodo-merge-pro]

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⚡ Recommended focus areas for review Possible Logic Bug The condition if (enabled && !(state.registers.vm0 | OSD_ENABLE)) uses bitwise OR inside a negation; this likely intends to check if the OSD_ENABLE bit is not set. Using OR here makes the expression always true when OSD_ENABLE is nonzero. Consider ((state.registers.vm0 & OSD_ENABLE) == 0) instead. if (enabled && !(state.registers.vm0 | OSD_ENABLE)) { state.registers.vm0 |= OSD_ENABLE; Busy-wait Risk The loop while (!initialized) { registerDref(...); } may spin continuously and repeatedly register DREFs until initialized becomes true, potentially causing high CPU usage or duplicated registrations. Consider adding a sleep/backoff and/or move registration outside the loop or guard to run once. while (!initialized) { registerDref(DREF_LATITUDE, "sim/flightmodel/position/latitude", 100); registerDref(DREF_LONGITUDE, "sim/flightmodel/position/longitude", 100); registerDref(DREF_ELEVATION, "sim/flightmodel/position/elevation", 100); registerDref(DREF_AGL, "sim/flightmodel/position/y_agl", 100);

[qodo-merge-pro]

PR Code Suggestions ✨

Explore these optional code suggestions:

Category	Suggestion	Impact
Possible issue	Add timeout to initialization wait Busy-waiting on initialized without a timeout can hang forever if the thread fails or network is unreachable. Add a bounded wait with a timeout and small sleep/yield to avoid spinning. Return failure if initialization does not complete in time. src/main/target/SITL/sim/xplane.c [483-487] static bool initialized = false; ... if (pthread_create(&listenThread, NULL, listenWorker, NULL) < 0) { return false; } -while (!initialized) { +// Wait for initialization with timeout to avoid indefinite hang +const uint32_t initTimeoutMs = 5000; // 5s +const uint32_t pollIntervalMs = 10; +uint32_t waitedMs = 0; +while (!initialized && waitedMs < initTimeoutMs) { + struct timespec ts = { .tv_sec = 0, .tv_nsec = (long)pollIntervalMs * 1000000L }; + nanosleep(&ts, NULL); + waitedMs += pollIntervalMs; + // Optionally re-send dref registrations periodically registerDref(DREF_LATITUDE, "sim/flightmodel/position/latitude", 100); registerDref(DREF_LONGITUDE, "sim/flightmodel/position/longitude", 100); registerDref(DREF_ELEVATION, "sim/flightmodel/position/elevation", 100); registerDref(DREF_AGL, "sim/flightmodel/position/y_agl", 100); +} +if (!initialized) { + return false; +} [To ensure code accuracy, apply this suggestion manually] Suggestion importance[1-10]: 9 __ Why: The suggestion correctly identifies that the while (!initialized) loop is a busy-wait that can cause the application to hang indefinitely if the worker thread fails, which is a critical robustness issue.	High
	Make init flag atomic initialized is accessed from multiple threads without synchronization, causing a data race. Make initialized atomic or guarded to ensure visibility and avoid undefined behavior. Use volatile sig_atomic_t or C11 _Atomic bool depending on compiler support. src/main/target/SITL/sim/xplane.c [429-434] -static bool initialized = false; +#include <stdatomic.h> +... +static _Atomic bool initialized = false; static bool useImu = false; ... static void* listenWorker(void* arg) { ... - if (!initialized) { + bool expected = false; + if (atomic_compare_exchange_strong(&initialized, &expected, true)) { ENABLE_ARMING_FLAG(SIMULATOR_MODE_SITL); // Aircraft can wobble on the runway and prevents calibration of the accelerometer ENABLE_STATE(ACCELEROMETER_CALIBRATED); - initialized = true; } ... } [To ensure code accuracy, apply this suggestion manually] Suggestion importance[1-10]: 9 __ Why: The suggestion correctly identifies a data race on the initialized variable, which is accessed by two different threads without synchronization, leading to undefined behavior. This is a critical bug fix.	High
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[MrD-RC]

Personally, I would say Initialized should be corrected to Initialised. Be careful when renaming variables. Make sure that no other areas were impacted.

[valeriyvan]

Personally, I would say Initialized should be corrected to Initialised. Be careful when renaming variables. Make sure that no other areas were impacted.

I have kept original American spelling for Initialized.