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uncrustify ArduCopter/control_modes.pde

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uncrustify 2012-08-16 17:50:02 -07:00 committed by Pat Hickey
parent 5d29d5e5a1
commit 0c0652b6d8
1 changed files with 170 additions and 170 deletions
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102
ArduCopter/control_modes.pde
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@ -6,14 +6,14 @@ static void read_control_switch()
byte switchPosition = readSwitch();
if (oldSwitchPosition != switchPosition){
if(switch_debouncer){
if (oldSwitchPosition != switchPosition) {
if(switch_debouncer) {
oldSwitchPosition = switchPosition;
switch_debouncer = false;
set_mode(flight_modes[switchPosition]);
if(g.ch7_option != CH7_SIMPLE_MODE){
if(g.ch7_option != CH7_SIMPLE_MODE) {
// set Simple mode using stored paramters from Mission planner
// rather than by the control switch
do_simple = (g.simple_modes & (1 << switchPosition));
@ -47,10 +47,10 @@ static void read_trim_switch()
{
int8_t option;
if(g.ch7_option == CH7_MULTI_MODE){
if (g.rc_6.radio_in < CH_6_PWM_TRIGGER_LOW){
if(g.ch7_option == CH7_MULTI_MODE) {
if (g.rc_6.radio_in < CH_6_PWM_TRIGGER_LOW) {
option = CH7_FLIP;
}else if (g.rc_6.radio_in > CH_6_PWM_TRIGGER_HIGH){
}else if (g.rc_6.radio_in > CH_6_PWM_TRIGGER_HIGH) {
option = CH7_SAVE_WP;
}else{
option = CH7_RTL;
@ -59,44 +59,44 @@ static void read_trim_switch()
option = g.ch7_option;
}
if(option == CH7_SIMPLE_MODE){
if(option == CH7_SIMPLE_MODE) {
do_simple = (g.rc_7.radio_in > CH_7_PWM_TRIGGER);
}else if (option == CH7_FLIP){
if (CH7_flag == false && g.rc_7.radio_in > CH_7_PWM_TRIGGER){
}else if (option == CH7_FLIP) {
if (CH7_flag == false && g.rc_7.radio_in > CH_7_PWM_TRIGGER) {
CH7_flag = true;
// don't flip if we accidentally engaged flip, but didn't notice and tried to takeoff
if(g.rc_3.control_in != 0 && takeoff_complete){
if(g.rc_3.control_in != 0 && takeoff_complete) {
init_flip();
}
}
if (CH7_flag == true && g.rc_7.control_in < 800){
if (CH7_flag == true && g.rc_7.control_in < 800) {
CH7_flag = false;
}
}else if (option == CH7_RTL){
if (CH7_flag == false && g.rc_7.radio_in > CH_7_PWM_TRIGGER){
}else if (option == CH7_RTL) {
if (CH7_flag == false && g.rc_7.radio_in > CH_7_PWM_TRIGGER) {
CH7_flag = true;
set_mode(RTL);
}
if (CH7_flag == true && g.rc_7.control_in < 800){
if (CH7_flag == true && g.rc_7.control_in < 800) {
CH7_flag = false;
if (control_mode == RTL || control_mode == LOITER){
if (control_mode == RTL || control_mode == LOITER) {
reset_control_switch();
}
}
}else if (option == CH7_SAVE_WP){
if (g.rc_7.radio_in > CH_7_PWM_TRIGGER){ // switch is engaged
}else if (option == CH7_SAVE_WP) {
if (g.rc_7.radio_in > CH_7_PWM_TRIGGER) { // switch is engaged
CH7_flag = true;
}else{ // switch is disengaged
if(CH7_flag){
if(CH7_flag) {
CH7_flag = false;
if(control_mode == AUTO){
if(control_mode == AUTO) {
// reset the mission
CH7_wp_index = 0;
g.command_total.set_and_save(1);
@ -104,7 +104,7 @@ static void read_trim_switch()
return;
}
if(CH7_wp_index == 0){
if(CH7_wp_index == 0) {
// this is our first WP, let's save WP 1 as a takeoff
// increment index to WP index of 1 (home is stored at 0)
CH7_wp_index = 1;
@ -128,7 +128,7 @@ static void read_trim_switch()
// max out at 100 since I think we need to stay under the EEPROM limit
CH7_wp_index = constrain(CH7_wp_index, 1, 100);
if(g.rc_3.control_in > 0){
if(g.rc_3.control_in > 0) {
// set our location ID to 16, MAV_CMD_NAV_WAYPOINT
current_loc.id = MAV_CMD_NAV_WAYPOINT;
}else{
@ -147,8 +147,8 @@ static void read_trim_switch()
// 3 = command total
}
}
}else if (option == CH7_AUTO_TRIM){
if (g.rc_7.radio_in > CH_7_PWM_TRIGGER){
}else if (option == CH7_AUTO_TRIM) {
if (g.rc_7.radio_in > CH_7_PWM_TRIGGER) {
auto_level_counter = 10;
}
}
@ -156,7 +156,7 @@ static void read_trim_switch()
static void auto_trim()
{
if(auto_level_counter > 0){
if(auto_level_counter > 0) {
//g.rc_1.dead_zone = 60; // 60 = .6 degrees
//g.rc_2.dead_zone = 60;
@ -165,7 +165,7 @@ static void auto_trim()
led_mode = AUTO_TRIM_LEDS;
do_simple = false;
if(auto_level_counter == 1){
if(auto_level_counter == 1) {
//g.rc_1.dead_zone = 0; // 60 = .6 degrees
//g.rc_2.dead_zone = 0;
led_mode = NORMAL_LEDS;
@ -182,22 +182,22 @@ static void auto_trim()
/*
How this works:
Level Example:
A_off: -14.00, -20.59, -30.80
Right roll Example:
A_off: -6.73, 89.05, -46.02
Left Roll Example:
A_off: -18.11, -160.31, -56.42
Pitch Forward:
A_off: -127.00, -22.16, -50.09
Pitch Back:
A_off: 201.95, -24.00, -88.56
*/
* How this works:
* Level Example:
* A_off: -14.00, -20.59, -30.80
*
* Right roll Example:
* A_off: -6.73, 89.05, -46.02
*
* Left Roll Example:
* A_off: -18.11, -160.31, -56.42
*
* Pitch Forward:
* A_off: -127.00, -22.16, -50.09
*
* Pitch Back:
* A_off: 201.95, -24.00, -88.56
*/
static void trim_accel()
{
@ -209,24 +209,24 @@ static void trim_accel()
trim_roll = constrain(trim_roll, -1.5, 1.5);
trim_pitch = constrain(trim_pitch, -1.5, 1.5);
if(g.rc_1.control_in > 200){ // Roll Right
if(g.rc_1.control_in > 200) { // Roll Right
imu.ay(imu.ay() - trim_roll);
}else if (g.rc_1.control_in < -200){
}else if (g.rc_1.control_in < -200) {
imu.ay(imu.ay() - trim_roll);
}
if(g.rc_2.control_in > 200){ // Pitch Back
if(g.rc_2.control_in > 200) { // Pitch Back
imu.ax(imu.ax() + trim_pitch);
}else if (g.rc_2.control_in < -200){
}else if (g.rc_2.control_in < -200) {
imu.ax(imu.ax() + trim_pitch);
}
/*
Serial.printf_P(PSTR("r:%1.2f %1.2f \t| p:%1.2f %1.2f\n"),
trim_roll,
(float)imu.ay(),
trim_pitch,
(float)imu.ax());
//*/
* Serial.printf_P(PSTR("r:%1.2f %1.2f \t| p:%1.2f %1.2f\n"),
* trim_roll,
* (float)imu.ay(),
* trim_pitch,
* (float)imu.ax());
* //*/
}