mirror of https://github.com/ArduPilot/ardupilot
ACM : Formatting
This commit is contained in:
Jason Short
parent
dda74afa21
commit
19ae5c30eb
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@ -868,7 +868,7 @@ static int16_t gps_fix_count;
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// Time in microseconds of main control loop
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static uint32_t fast_loopTimer;
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// Time in microseconds of 50hz control loop
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static uint32_t fiftyhz_loopTimer = 0;
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static uint32_t fiftyhz_loopTimer;
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// Counters for branching from 10 hz control loop
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static byte medium_loopCounter;
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// Counters for branching from 3 1/3hz control loop
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@ -894,7 +894,7 @@ static uint8_t save_trim_counter;
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// Reference to the AP relay object - APM1 only
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AP_Relay relay;
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// a pin for reading the receiver RSSI voltage. The scaling by 0.25
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// a pin for reading the receiver RSSI voltage. The scaling by 0.25
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// is to take the 0 to 1024 range down to an 8 bit range for MAVLink
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AP_AnalogSource_Arduino RSSI_pin(-1, 0.25);
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@ -961,8 +961,8 @@ void loop()
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// check loop time
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perf_info_check_loop_time(timer - fast_loopTimer);
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G_Dt = (float)(timer - fast_loopTimer) / 1000000.f; // used by PI Loops
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fast_loopTimer = timer;
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G_Dt = (float)(timer - fast_loopTimer) / 1000000.f; // used by PI Loops
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fast_loopTimer = timer;
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// for mainloop failure monitoring
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mainLoop_count++;
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@ -981,7 +981,7 @@ void loop()
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#endif
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// store the micros for the 50 hz timer
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fiftyhz_loopTimer = timer;
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fiftyhz_loopTimer = timer;
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// check for new GPS messages
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// --------------------------
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@ -1379,7 +1379,7 @@ static void super_slow_loop()
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// agmatthews - USERHOOKS
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#ifdef USERHOOK_SUPERSLOWLOOP
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USERHOOK_SUPERSLOWLOOP
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#endif
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#endif
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}
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// called at 100hz but data from sensor only arrives at 20 Hz
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@ -1642,7 +1642,7 @@ void update_roll_pitch_mode(void)
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}
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switch(roll_pitch_mode) {
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case ROLL_PITCH_ACRO:
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case ROLL_PITCH_ACRO:
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#if FRAME_CONFIG == HELI_FRAME
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if(g.axis_enabled) {
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@ -1720,7 +1720,7 @@ void update_roll_pitch_mode(void)
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roll_pitch_toy();
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break;
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}
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#if FRAME_CONFIG != HELI_FRAME
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if(g.rc_3.control_in == 0 && control_mode <= ACRO) {
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reset_rate_I();
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@ -1870,7 +1870,7 @@ void update_throttle_mode(void)
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#else
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update_throttle_cruise(g.rc_3.control_in);
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#endif //HELI_FRAME
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// check if we've taken off yet
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if (!ap.takeoff_complete && motors.armed()) {
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@ -1998,19 +1998,19 @@ static void update_trig(void){
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yawvector.normalize();
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cos_pitch_x = safe_sqrt(1 - (temp.c.x * temp.c.x)); // level = 1
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cos_roll_x = temp.c.z / cos_pitch_x; // level = 1
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cos_roll_x = temp.c.z / cos_pitch_x; // level = 1
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cos_pitch_x = constrain(cos_pitch_x, 0, 1.0);
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cos_pitch_x = constrain(cos_pitch_x, 0, 1.0);
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// this relies on constrain() of infinity doing the right thing,
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// which it does do in avr-libc
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cos_roll_x = constrain(cos_roll_x, -1.0, 1.0);
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cos_roll_x = constrain(cos_roll_x, -1.0, 1.0);
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sin_yaw_y = yawvector.x; // 1y = north
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cos_yaw_x = yawvector.y; // 0x = north
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sin_yaw_y = yawvector.x; // 1y = north
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cos_yaw_x = yawvector.y; // 0x = north
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// added to convert earth frame to body frame for rate controllers
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sin_pitch = -temp.c.x;
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sin_roll = temp.c.y / cos_pitch_x;
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sin_pitch = -temp.c.x;
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sin_roll = temp.c.y / cos_pitch_x;
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//flat:
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// 0 ° = cos_yaw: 0.00, sin_yaw: 1.00,
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@ -1,94 +0,0 @@
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/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*
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* GCS Protocol
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*
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* 4 Ardupilot Header
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* D
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* 5 Payload length
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* 1 Message ID
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* 1 Message Version
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* 9 Payload byte 1
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* 8 Payload byte 2
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* 7 Payload byte 3
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* A Checksum byte 1
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* B Checksum byte 2
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*
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*/
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/*
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* #if GCS_PORT == 3
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# define SendSerw Serial3.write
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# define SendSer Serial3.print
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##else
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# define SendSerw Serial.write
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# define SendSer Serial.print
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##endif
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#
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# byte mess_buffer[60];
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# byte buff_pointer;
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#
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# // Unions for getting byte values
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# union f_out{
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# byte bytes[4];
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# float value;
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# } floatOut;
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#
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# union i_out {
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# byte bytes[2];
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# int16_t value;
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# } intOut;
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#
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# union l_out{
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# byte bytes[4];
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# int32_t value;
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# } longOut;
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#
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# // Add binary values to the buffer
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# void write_byte(byte val)
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# {
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# mess_buffer[buff_pointer++] = val;
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# }
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#
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# void write_int(int16_t val )
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# {
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# intOut.value = val;
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# mess_buffer[buff_pointer++] = intOut.bytes[0];
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# mess_buffer[buff_pointer++] = intOut.bytes[1];
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# }
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#
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# void write_float(float val)
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# {
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# floatOut.value = val;
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# mess_buffer[buff_pointer++] = floatOut.bytes[0];
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# mess_buffer[buff_pointer++] = floatOut.bytes[1];
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# mess_buffer[buff_pointer++] = floatOut.bytes[2];
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# mess_buffer[buff_pointer++] = floatOut.bytes[3];
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# }
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#
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# void write_long(int32_t val)
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# {
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# longOut.value = val;
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# mess_buffer[buff_pointer++] = longOut.bytes[0];
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# mess_buffer[buff_pointer++] = longOut.bytes[1];
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# mess_buffer[buff_pointer++] = longOut.bytes[2];
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# mess_buffer[buff_pointer++] = longOut.bytes[3];
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# }
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#
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# void flush(byte id)
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# {
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# byte mess_ck_a = 0;
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# byte mess_ck_b = 0;
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# byte i;
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#
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# SendSer("4D"); // This is the message preamble
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# SendSerw(buff_pointer); // Length
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# SendSerw(2); // id
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#
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# for (i = 0; i < buff_pointer; i++) {
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# SendSerw(mess_buffer[i]);
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# }
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#
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# buff_pointer = 0;
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# }
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*/
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@ -5,9 +5,9 @@
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// Code to Write and Read packets from DataFlash log memory
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// Code to interact with the user to dump or erase logs
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#define HEAD_BYTE1 0xA3 // Decimal 163
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#define HEAD_BYTE2 0x95 // Decimal 149
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#define END_BYTE 0xBA // Decimal 186
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#define HEAD_BYTE1 0xA3 // Decimal 163
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#define HEAD_BYTE2 0x95 // Decimal 149
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#define END_BYTE 0xBA // Decimal 186
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// These are function definitions so the Menu can be constructed before the functions
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@ -13,7 +13,7 @@ static void update_navigation()
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// used to calculate speed in X and Y, iterms
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// ------------------------------------------
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dTnav = (float)(millis() - nav_last_gps_update)/ 1000.0;
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dTnav = (float)(millis() - nav_last_gps_update)/ 1000.0;
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nav_last_gps_update = millis();
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// prevent runup from bad GPS
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@ -292,7 +292,7 @@ static void update_nav_wp()
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loiter_sum += loiter_delta;
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circle_angle += (circle_rate * dTnav);
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//1° = 0.0174532925 radians
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//1deg = 0.0174532925 radians
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// wrap
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if (circle_angle > 6.28318531)
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@ -331,8 +331,8 @@ static void update_nav_wp()
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nav_lon = g.pid_loiter_rate_lon.get_integrator();
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nav_lat = g.pid_loiter_rate_lon.get_integrator();
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nav_lon = constrain(nav_lon, -2000, 2000); // 20°
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nav_lat = constrain(nav_lat, -2000, 2000); // 20°
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nav_lon = constrain(nav_lon, -2000, 2000); // 20m
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nav_lat = constrain(nav_lat, -2000, 2000); // 20m
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break;
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}
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}
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@ -617,4 +617,4 @@ static int32_t wrap_180(int32_t error)
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static int32_t get_yaw_slew(int32_t current_yaw, int32_t desired_yaw, int16_t deg_per_sec)
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{
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return wrap_360(current_yaw + constrain(wrap_180(desired_yaw - current_yaw), -deg_per_sec, deg_per_sec));
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}
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}
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@ -3,27 +3,27 @@
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#if CLI_ENABLED == ENABLED
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// Functions called from the setup menu
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static int8_t setup_radio (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_motors (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_accel (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_accel_scale (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_frame (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_factory (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_erase (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_flightmodes (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_batt_monitor (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_sonar (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_compass (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_tune (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_range (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_radio (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_motors (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_accel (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_accel_scale (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_frame (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_factory (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_erase (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_flightmodes (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_batt_monitor (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_sonar (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_compass (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_tune (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_range (uint8_t argc, const Menu::arg *argv);
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//static int8_t setup_mag_offset (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_declination (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_optflow (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_declination (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_optflow (uint8_t argc, const Menu::arg *argv);
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#if FRAME_CONFIG == HELI_FRAME
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static int8_t setup_heli (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_gyro (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_heli (uint8_t argc, const Menu::arg *argv);
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static int8_t setup_gyro (uint8_t argc, const Menu::arg *argv);
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#endif
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// Command/function table for the setup menu
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@ -364,7 +364,7 @@ static void startup_ground(void)
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// Warm up and read Gyro offsets
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// -----------------------------
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ins.init(AP_InertialSensor::COLD_START,
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ins.init(AP_InertialSensor::COLD_START,
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ins_sample_rate,
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mavlink_delay, flash_leds, &timer_scheduler);
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#if CLI_ENABLED == ENABLED
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@ -407,8 +407,8 @@ static void set_mode(byte mode)
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mode = STABILIZE;
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}
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control_mode = mode;
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control_mode = constrain(control_mode, 0, NUM_MODES - 1);
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control_mode = mode;
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control_mode = constrain(control_mode, 0, NUM_MODES - 1);
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// used to stop fly_aways
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// set to false if we have low throttle
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