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Rover: Whitespace/formatting change ONLY for Steering.cpp

This commit is contained in:
Grant Morphett 2015-11-05 14:34:24 +11:00 committed by Andrew Tridgell
parent bbbbd07935
commit 039ea59d7e
1 changed files with 51 additions and 58 deletions
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27
APMrover2/Steering.cpp
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@ -3,10 +3,9 @@
#include "Rover.h"
/*****************************************
* Throttle slew limit
Throttle slew limit
*****************************************/
void Rover::throttle_slew_limit(int16_t last_throttle)
{
void Rover::throttle_slew_limit(int16_t last_throttle) {
// if slew limit rate is set to zero then do not slew limit
if (g.throttle_slewrate && last_throttle != 0) {
// limit throttle change by the given percentage per second
@ -22,8 +21,7 @@ void Rover::throttle_slew_limit(int16_t last_throttle)
/*
check for triggering of start of auto mode
*/
bool Rover::auto_check_trigger(void)
{
bool Rover::auto_check_trigger(void) {
// only applies to AUTO mode
if (control_mode != AUTO) {
return true;
@ -69,8 +67,7 @@ bool Rover::auto_check_trigger(void)
/*
work out if we are going to use pivot steering
*/
bool Rover::use_pivot_steering(void)
{
bool Rover::use_pivot_steering(void) {
if (control_mode >= AUTO && g.skid_steer_out && g.pivot_turn_angle != 0) {
int16_t bearing_error = wrap_180_cd(nav_controller->target_bearing_cd() - ahrs.yaw_sensor) / 100;
if (abs(bearing_error) > g.pivot_turn_angle) {
@ -84,8 +81,7 @@ bool Rover::use_pivot_steering(void)
/*
calculate the throtte for auto-throttle modes
*/
void Rover::calc_throttle(float target_speed)
{
void Rover::calc_throttle(float target_speed) {
// If not autostarting OR we are loitering at a waypoint
// then set the throttle to minimum
if (!auto_check_trigger() || ((loiter_time > 0) && (control_mode == AUTO))) {
@ -159,11 +155,10 @@ void Rover::calc_throttle(float target_speed)
}
/*****************************************
* Calculate desired turn angles (in medium freq loop)
Calculate desired turn angles (in medium freq loop)
*****************************************/
void Rover::calc_lateral_acceleration()
{
void Rover::calc_lateral_acceleration() {
switch (control_mode) {
case AUTO:
nav_controller->update_waypoint(prev_WP, next_WP);
@ -196,8 +191,7 @@ void Rover::calc_lateral_acceleration()
/*
calculate steering angle given lateral_acceleration
*/
void Rover::calc_nav_steer()
{
void Rover::calc_nav_steer() {
// check to see if the rover is loitering
if ((loiter_time > 0) && (control_mode == AUTO)) {
channel_steer->servo_out = 0;
@ -214,10 +208,9 @@ void Rover::calc_nav_steer()
}
/*****************************************
* Set the flight control servos based on the current calculated values
Set the flight control servos based on the current calculated values
*****************************************/
void Rover::set_servos(void)
{
void Rover::set_servos(void) {
static int16_t last_throttle;
// support a separate steering channel