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AP_TECS: reformat using astyle

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This commit is contained in:
Andrew Tridgell 2015-09-16 11:17:28 +10:00
parent 86e8c7ed2f
commit 094b9cb35e
2 changed files with 494 additions and 482 deletions
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8
libraries/AP_TECS/AP_TECS.cpp
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@ -6,10 +6,10 @@
extern const AP_HAL::HAL& hal;
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
#include <stdio.h>
# define Debug(fmt, args ...) do {printf("%s:%d: " fmt "\n", __FUNCTION__, __LINE__, ## args); hal.scheduler->delay(1); } while(0)
#include <stdio.h>
# define Debug(fmt, args ...) do {printf("%s:%d: " fmt "\n", __FUNCTION__, __LINE__, ## args); hal.scheduler->delay(1); } while(0)
#else
# define Debug(fmt, args ...)
# define Debug(fmt, args ...)
#endif
//Debug("%.2f %.2f %.2f %.2f \n", var1, var2, var3, var4);
@ -332,7 +332,7 @@ void AP_TECS::_update_speed(float load_factor)
float aspdErr = (_EAS * EAS2TAS) - _integ5_state;
float integ4_input = aspdErr * _spdCompFiltOmega * _spdCompFiltOmega;
// Prevent state from winding up
if (_integ5_state < 3.1f){
if (_integ5_state < 3.1f) {
integ4_input = max(integ4_input , 0.0f);
}
_integ4_state = _integ4_state + integ4_input * DT;

26
libraries/AP_TECS/AP_TECS.h
View File

@ -1,4 +1,4 @@
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/// @file AP_TECS.h
/// @brief Combined Total Energy Speed & Height Control. This is a instance of an
@ -54,26 +54,38 @@ public:
// demanded throttle in percentage
// should return 0 to 100
int32_t get_throttle_demand(void) {return int32_t(_throttle_dem * 100.0f);}
int32_t get_throttle_demand(void) {
return int32_t(_throttle_dem * 100.0f);
}
// demanded pitch angle in centi-degrees
// should return between -9000 to +9000
int32_t get_pitch_demand(void) { return int32_t(_pitch_dem * 5729.5781f);}
int32_t get_pitch_demand(void) {
return int32_t(_pitch_dem * 5729.5781f);
}
// Rate of change of velocity along X body axis in m/s^2
float get_VXdot(void) { return _vel_dot; }
float get_VXdot(void) {
return _vel_dot;
}
// log data on internal state of the controller. Called at 10Hz
void log_data(DataFlash_Class &dataflash, uint8_t msgid);
// return current target airspeed
float get_target_airspeed(void) const { return _TAS_dem / _ahrs.get_EAS2TAS(); }
float get_target_airspeed(void) const {
return _TAS_dem / _ahrs.get_EAS2TAS();
}
// return maximum climb rate
float get_max_climbrate(void) const { return _maxClimbRate; }
float get_max_climbrate(void) const {
return _maxClimbRate;
}
// return landing sink rate
float get_land_sinkrate(void) const { return _land_sink; }
float get_land_sinkrate(void) const {
return _land_sink;
}
// this supports the TECS_* user settable parameters
static const struct AP_Param::GroupInfo var_info[];