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uncrustify ArduCopter/system.pde

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uncrustify 2012-08-21 19:19:50 -07:00 committed by Pat Hickey
parent 4ae0b9dc8a
commit 06031868d8
1 changed files with 388 additions and 388 deletions
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ArduCopter/system.pde
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@ -1,9 +1,9 @@
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- // -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/***************************************************************************** /*****************************************************************************
The init_ardupilot function processes everything we need for an in - air restart * The init_ardupilot function processes everything we need for an in - air restart
We will determine later if we are actually on the ground and process a * We will determine later if we are actually on the ground and process a
ground start in that case. * ground start in that case.
*
*****************************************************************************/ *****************************************************************************/
#if CLI_ENABLED == ENABLED #if CLI_ENABLED == ENABLED
@ -82,11 +82,11 @@ static void init_ardupilot()
// GPS serial port. // GPS serial port.
// //
#if GPS_PROTOCOL != GPS_PROTOCOL_IMU #if GPS_PROTOCOL != GPS_PROTOCOL_IMU
// standard gps running. Note that we need a 256 byte buffer for some // standard gps running. Note that we need a 256 byte buffer for some
// GPS types (eg. UBLOX) // GPS types (eg. UBLOX)
Serial1.begin(38400, 256, 16); Serial1.begin(38400, 256, 16);
#endif #endif
Serial.printf_P(PSTR("\n\nInit " THISFIRMWARE Serial.printf_P(PSTR("\n\nInit " THISFIRMWARE
"\n\nFree RAM: %u\n"), "\n\nFree RAM: %u\n"),
@ -143,7 +143,7 @@ static void init_ardupilot()
pinMode(COPTER_LED_7, OUTPUT); //Motor or GPS LED pinMode(COPTER_LED_7, OUTPUT); //Motor or GPS LED
pinMode(COPTER_LED_8, OUTPUT); //Motor or GPS LED pinMode(COPTER_LED_8, OUTPUT); //Motor or GPS LED
if ( !bitRead(g.copter_leds_mode, 3) ){ if ( !bitRead(g.copter_leds_mode, 3) ) {
piezo_beep(); piezo_beep();
} }
@ -181,22 +181,22 @@ static void init_ardupilot()
gcs_send_text_P(SEVERITY_LOW, PSTR("ERASING LOGS")); gcs_send_text_P(SEVERITY_LOW, PSTR("ERASING LOGS"));
do_erase_logs(); do_erase_logs();
} }
if (g.log_bitmask != 0){ if (g.log_bitmask != 0) {
DataFlash.start_new_log(); DataFlash.start_new_log();
} }
#endif #endif
#ifdef RADIO_OVERRIDE_DEFAULTS #ifdef RADIO_OVERRIDE_DEFAULTS
{ {
int16_t rc_override[8] = RADIO_OVERRIDE_DEFAULTS; int16_t rc_override[8] = RADIO_OVERRIDE_DEFAULTS;
APM_RC.setHIL(rc_override); APM_RC.setHIL(rc_override);
} }
#endif #endif
#if FRAME_CONFIG == HELI_FRAME #if FRAME_CONFIG == HELI_FRAME
motors.servo_manual = false; motors.servo_manual = false;
motors.init_swash(); // heli initialisation motors.init_swash(); // heli initialisation
#endif #endif
RC_Channel::set_apm_rc(&APM_RC); RC_Channel::set_apm_rc(&APM_RC);
init_rc_in(); // sets up rc channels from radio init_rc_in(); // sets up rc channels from radio
@ -208,10 +208,10 @@ static void init_ardupilot()
AP_AnalogSource_Arduino::init_timer(&timer_scheduler); AP_AnalogSource_Arduino::init_timer(&timer_scheduler);
#if HIL_MODE != HIL_MODE_ATTITUDE #if HIL_MODE != HIL_MODE_ATTITUDE
#if CONFIG_ADC == ENABLED #if CONFIG_ADC == ENABLED
// begin filtering the ADC Gyros // begin filtering the ADC Gyros
adc.Init(&timer_scheduler); // APM ADC library initialization adc.Init(&timer_scheduler); // APM ADC library initialization
#endif // CONFIG_ADC #endif // CONFIG_ADC
barometer.init(&timer_scheduler); barometer.init(&timer_scheduler);
@ -255,11 +255,11 @@ static void init_ardupilot()
GPS_enabled = false; GPS_enabled = false;
#if HIL_MODE == HIL_MODE_DISABLED #if HIL_MODE == HIL_MODE_DISABLED
// Read in the GPS // Read in the GPS
for (byte counter = 0; ; counter++) { for (byte counter = 0;; counter++) {
g_gps->update(); g_gps->update();
if (g_gps->status() != 0){ if (g_gps->status() != 0) {
GPS_enabled = true; GPS_enabled = true;
break; break;
} }
@ -269,9 +269,9 @@ static void init_ardupilot()
break; break;
} }
} }
#else #else
GPS_enabled = true; GPS_enabled = true;
#endif #endif
// lengthen the idle timeout for gps Auto_detect // lengthen the idle timeout for gps Auto_detect
// --------------------------------------------- // ---------------------------------------------
@ -281,16 +281,16 @@ static void init_ardupilot()
// -------------------- // --------------------
report_gps(); report_gps();
#if HIL_MODE != HIL_MODE_ATTITUDE #if HIL_MODE != HIL_MODE_ATTITUDE
// read Baro pressure at ground // read Baro pressure at ground
//----------------------------- //-----------------------------
init_barometer(); init_barometer();
#endif #endif
// initialise sonar // initialise sonar
#if CONFIG_SONAR == ENABLED #if CONFIG_SONAR == ENABLED
init_sonar(); init_sonar();
#endif #endif
// initialize commands // initialize commands
// ------------------- // -------------------
@ -302,9 +302,9 @@ static void init_ardupilot()
// init the Z damopener // init the Z damopener
// -------------------- // --------------------
#if ACCEL_ALT_HOLD != 0 #if ACCEL_ALT_HOLD != 0
init_z_damper(); init_z_damper();
#endif #endif
startup_ground(); startup_ground();
@ -378,14 +378,14 @@ static void startup_ground(void)
{ {
gcs_send_text_P(SEVERITY_LOW,PSTR("GROUND START")); gcs_send_text_P(SEVERITY_LOW,PSTR("GROUND START"));
#if HIL_MODE != HIL_MODE_ATTITUDE #if HIL_MODE != HIL_MODE_ATTITUDE
// Warm up and read Gyro offsets // Warm up and read Gyro offsets
// ----------------------------- // -----------------------------
imu.init(IMU::COLD_START, mavlink_delay, flash_leds, &timer_scheduler); imu.init(IMU::COLD_START, mavlink_delay, flash_leds, &timer_scheduler);
#if CLI_ENABLED == ENABLED #if CLI_ENABLED == ENABLED
report_imu(); report_imu();
#endif #endif
#endif #endif
// initialise ahrs (may push imu calibration into the mpu6000 if using that device). // initialise ahrs (may push imu calibration into the mpu6000 if using that device).
ahrs.init(); ahrs.init();
@ -403,36 +403,36 @@ static void startup_ground(void)
} }
/* /*
#define YAW_HOLD 0 * #define YAW_HOLD 0
#define YAW_ACRO 1 * #define YAW_ACRO 1
#define YAW_AUTO 2 * #define YAW_AUTO 2
#define YAW_LOOK_AT_HOME 3 * #define YAW_LOOK_AT_HOME 3
*
#define ROLL_PITCH_STABLE 0 * #define ROLL_PITCH_STABLE 0
#define ROLL_PITCH_ACRO 1 * #define ROLL_PITCH_ACRO 1
#define ROLL_PITCH_AUTO 2 * #define ROLL_PITCH_AUTO 2
*
#define THROTTLE_MANUAL 0 * #define THROTTLE_MANUAL 0
#define THROTTLE_HOLD 1 * #define THROTTLE_HOLD 1
#define THROTTLE_AUTO 2 * #define THROTTLE_AUTO 2
*
*/ */
static void set_mode(byte mode) static void set_mode(byte mode)
{ {
// if we don't have GPS lock // if we don't have GPS lock
if(home_is_set == false){ if(home_is_set == false) {
// THOR // THOR
// We don't care about Home if we don't have lock yet in Toy mode // We don't care about Home if we don't have lock yet in Toy mode
if(mode == TOY_A || mode == TOY_M || mode == OF_LOITER){ if(mode == TOY_A || mode == TOY_M || mode == OF_LOITER) {
// nothing // nothing
}else if (mode > ALT_HOLD){ }else if (mode > ALT_HOLD) {
mode = STABILIZE; mode = STABILIZE;
} }
} }
// nothing but OF_LOITER for OptFlow only // nothing but OF_LOITER for OptFlow only
if (g.optflow_enabled && GPS_enabled == false){ if (g.optflow_enabled && GPS_enabled == false) {
if (mode > ALT_HOLD && mode != OF_LOITER) if (mode > ALT_HOLD && mode != OF_LOITER)
mode = STABILIZE; mode = STABILIZE;
} }
@ -579,7 +579,7 @@ static void set_mode(byte mode)
break; break;
} }
if(failsafe){ if(failsafe) {
// this is to allow us to fly home without interactive throttle control // this is to allow us to fly home without interactive throttle control
throttle_mode = THROTTLE_AUTO; throttle_mode = THROTTLE_AUTO;
// does not wait for us to be in high throttle, since the // does not wait for us to be in high throttle, since the
@ -587,7 +587,7 @@ static void set_mode(byte mode)
motors.auto_armed(true); motors.auto_armed(true);
} }
if(roll_pitch_mode <= ROLL_PITCH_ACRO){ if(roll_pitch_mode <= ROLL_PITCH_ACRO) {
// We are under manual attitude control // We are under manual attitude control
// remove the navigation from roll and pitch command // remove the navigation from roll and pitch command
reset_nav_params(); reset_nav_params();
@ -604,13 +604,13 @@ static void set_failsafe(boolean mode)
{ {
// only act on changes // only act on changes
// ------------------- // -------------------
if(failsafe != mode){ if(failsafe != mode) {
// store the value so we don't trip the gate twice // store the value so we don't trip the gate twice
// ----------------------------------------------- // -----------------------------------------------
failsafe = mode; failsafe = mode;
if (failsafe == false){ if (failsafe == false) {
// We've regained radio contact // We've regained radio contact
// ---------------------------- // ----------------------------
failsafe_off_event(); failsafe_off_event();
@ -631,7 +631,7 @@ init_simple_bearing()
static void update_throttle_cruise(int16_t tmp) static void update_throttle_cruise(int16_t tmp)
{ {
if(tmp != 0){ if(tmp != 0) {
g.throttle_cruise += tmp; g.throttle_cruise += tmp;
reset_throttle_I(); reset_throttle_I();
} }
@ -650,7 +650,7 @@ check_startup_for_CLI()
#endif // CLI_ENABLED #endif // CLI_ENABLED
/* /*
map from a 8 bit EEPROM baud rate to a real baud rate * map from a 8 bit EEPROM baud rate to a real baud rate
*/ */
static uint32_t map_baudrate(int8_t rate, uint32_t default_baud) static uint32_t map_baudrate(int8_t rate, uint32_t default_baud)
{ {
@ -688,13 +688,13 @@ static void check_usb_mux(void)
#endif #endif
/* /*
called by gyro/accel init to flash LEDs so user * called by gyro/accel init to flash LEDs so user
has some mesmerising lights to watch while waiting * has some mesmerising lights to watch while waiting
*/ */
void flash_leds(bool on) void flash_leds(bool on)
{ {
digitalWrite(A_LED_PIN, on?LED_OFF:LED_ON); digitalWrite(A_LED_PIN, on ? LED_OFF : LED_ON);
digitalWrite(C_LED_PIN, on?LED_ON:LED_OFF); digitalWrite(C_LED_PIN, on ? LED_ON : LED_OFF);
} }
#ifndef DESKTOP_BUILD #ifndef DESKTOP_BUILD