From 4e349450a74b8abfbf691cc8f78cc3245e7174bf Mon Sep 17 00:00:00 2001
From: Aashay Shah <aashays@uci.edu>
Date: Thu, 21 Dec 2023 06:15:11 +0800
Subject: [PATCH] Changes to compile

---
 libraries/AP_ODIDScanner/AP_ODIDScanner.cpp | 3 +--
 libraries/AP_ODIDScanner/AP_ODIDScanner.h   | 6 ++++--
 libraries/AP_Vehicle/AP_Vehicle.cpp         | 1 +
 3 files changed, 6 insertions(+), 4 deletions(-)

diff --git a/libraries/AP_ODIDScanner/AP_ODIDScanner.cpp b/libraries/AP_ODIDScanner/AP_ODIDScanner.cpp
index f6cfe11857f7c..3d4ee93dbc18d 100644
--- a/libraries/AP_ODIDScanner/AP_ODIDScanner.cpp
+++ b/libraries/AP_ODIDScanner/AP_ODIDScanner.cpp
@@ -13,8 +13,7 @@ void AP_ODIDScanner::init() {
 void AP_ODIDScanner::update_recv() {
     mavlink_message_t msg;
     mavlink_status_t status;
-    uint32_t tstart_us = AP_HAL::micros();
-    uint32_t now_ms = AP_HAL::millis();
+    // uint32_t now_ms = AP_HAL::millis();
 
     status.packet_rx_drop_count = 0;
 
diff --git a/libraries/AP_ODIDScanner/AP_ODIDScanner.h b/libraries/AP_ODIDScanner/AP_ODIDScanner.h
index 21967f5151355..b8662eec28757 100644
--- a/libraries/AP_ODIDScanner/AP_ODIDScanner.h
+++ b/libraries/AP_ODIDScanner/AP_ODIDScanner.h
@@ -1,6 +1,7 @@
 
 #pragma once
 
+#include <cstdint>
 #define ODID_SCANNER_ENABLED 1
 #ifdef ODID_SCANNER_ENABLED
 
@@ -20,10 +21,11 @@ class AP_ODIDScanner
     CLASS_NO_COPY(AP_ODIDScanner);
     void init();
     void update();
+    void update_recv();
     mavlink_channel_t _chan; // mavlink channel that communicates with the remote id transceiver
-    AP_Int8  _mav_port;
+    uint8_t _mav_port;
     mavlink_uav_found_t found_msg;
-    AP_HaL::UARTDriver* _port;
+    AP_HAL::UARTDriver* _port;
     bool _initialised;
     uint32_t last_send_ms;
     uint32_t last_dev_hb_ms;
diff --git a/libraries/AP_Vehicle/AP_Vehicle.cpp b/libraries/AP_Vehicle/AP_Vehicle.cpp
index 74b36a10a511d..ccc85a3269f8e 100644
--- a/libraries/AP_Vehicle/AP_Vehicle.cpp
+++ b/libraries/AP_Vehicle/AP_Vehicle.cpp
@@ -511,6 +511,7 @@ const AP_Scheduler::Task AP_Vehicle::scheduler_tasks[] = {
     SCHED_TASK_CLASS(AP_Airspeed,  &vehicle.airspeed,       update,                   10, 100, 41),    // NOTE: the priority number here should be right before Plane's calc_airspeed_errors
 #endif
     SCHED_TASK_CLASS(AP_ODIDScanner,&vehicle.odidscanner, update, 10, 50, 237),
+    SCHED_TASK_CLASS(AP_ODIDScanner,&vehicle.odidscanner, update_recv, 10, 50, 237),
 #if COMPASS_CAL_ENABLED
     SCHED_TASK_CLASS(Compass,      &vehicle.compass,        cal_update,     100, 200, 75),
 #endif