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Cosmetic cleanup, commented functions for compiler warnings

This commit is contained in:
Jason Short 2011-11-27 19:11:44 -08:00
parent afee053bac
commit 2e0b55d887
4 changed files with 26 additions and 25 deletions
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34
ArduCopter/GCS_Mavlink.pde
View File

@ -687,7 +687,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
switch (msg->msgid) { switch (msg->msgid) {
case MAVLINK_MSG_ID_REQUEST_DATA_STREAM: case MAVLINK_MSG_ID_REQUEST_DATA_STREAM: //66
{ {
// decode // decode
mavlink_request_data_stream_t packet; mavlink_request_data_stream_t packet;
@ -762,7 +762,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
break; break;
} }
case MAVLINK_MSG_ID_ACTION: case MAVLINK_MSG_ID_ACTION: //10
{ {
// decode // decode
mavlink_action_t packet; mavlink_action_t packet;
@ -895,7 +895,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
break; break;
} }
case MAVLINK_MSG_ID_SET_MODE: case MAVLINK_MSG_ID_SET_MODE: //11
{ {
// decode // decode
mavlink_set_mode_t packet; mavlink_set_mode_t packet;
@ -934,7 +934,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
break; break;
} }
*/ */
case MAVLINK_MSG_ID_WAYPOINT_REQUEST_LIST: case MAVLINK_MSG_ID_WAYPOINT_REQUEST_LIST: //43
{ {
//send_text_P(SEVERITY_LOW,PSTR("waypoint request list")); //send_text_P(SEVERITY_LOW,PSTR("waypoint request list"));
@ -959,7 +959,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
} }
// XXX read a WP from EEPROM and send it to the GCS // XXX read a WP from EEPROM and send it to the GCS
case MAVLINK_MSG_ID_WAYPOINT_REQUEST: case MAVLINK_MSG_ID_WAYPOINT_REQUEST: // 40
{ {
//send_text_P(SEVERITY_LOW,PSTR("waypoint request")); //send_text_P(SEVERITY_LOW,PSTR("waypoint request"));
@ -1081,7 +1081,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
break; break;
} }
case MAVLINK_MSG_ID_WAYPOINT_ACK: case MAVLINK_MSG_ID_WAYPOINT_ACK: //47
{ {
//send_text_P(SEVERITY_LOW,PSTR("waypoint ack")); //send_text_P(SEVERITY_LOW,PSTR("waypoint ack"));
@ -1095,7 +1095,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
break; break;
} }
case MAVLINK_MSG_ID_PARAM_REQUEST_LIST: case MAVLINK_MSG_ID_PARAM_REQUEST_LIST: // 21
{ {
//send_text_P(SEVERITY_LOW,PSTR("param request list")); //send_text_P(SEVERITY_LOW,PSTR("param request list"));
@ -1112,7 +1112,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
break; break;
} }
case MAVLINK_MSG_ID_WAYPOINT_CLEAR_ALL: case MAVLINK_MSG_ID_WAYPOINT_CLEAR_ALL: // 45
{ {
//send_text_P(SEVERITY_LOW,PSTR("waypoint clear all")); //send_text_P(SEVERITY_LOW,PSTR("waypoint clear all"));
@ -1132,7 +1132,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
break; break;
} }
case MAVLINK_MSG_ID_WAYPOINT_SET_CURRENT: case MAVLINK_MSG_ID_WAYPOINT_SET_CURRENT: // 41
{ {
//send_text_P(SEVERITY_LOW,PSTR("waypoint set current")); //send_text_P(SEVERITY_LOW,PSTR("waypoint set current"));
@ -1148,7 +1148,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
break; break;
} }
case MAVLINK_MSG_ID_WAYPOINT_COUNT: case MAVLINK_MSG_ID_WAYPOINT_COUNT: // 44
{ {
//send_text_P(SEVERITY_LOW,PSTR("waypoint count")); //send_text_P(SEVERITY_LOW,PSTR("waypoint count"));
@ -1183,7 +1183,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
#endif #endif
// XXX receive a WP from GCS and store in EEPROM // XXX receive a WP from GCS and store in EEPROM
case MAVLINK_MSG_ID_WAYPOINT: case MAVLINK_MSG_ID_WAYPOINT: //39
{ {
// decode // decode
mavlink_waypoint_t packet; mavlink_waypoint_t packet;
@ -1347,7 +1347,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
break; break;
} }
case MAVLINK_MSG_ID_PARAM_SET: case MAVLINK_MSG_ID_PARAM_SET: // 23
{ {
AP_Var *vp; AP_Var *vp;
AP_Meta_class::Type_id var_type; AP_Meta_class::Type_id var_type;
@ -1430,7 +1430,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
break; break;
} // end case } // end case
case MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE: case MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE: //70
{ {
// allow override of RC channel values for HIL // allow override of RC channel values for HIL
// or for complete GCS control of switch position // or for complete GCS control of switch position
@ -1458,7 +1458,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
#if HIL_MODE != HIL_MODE_DISABLED #if HIL_MODE != HIL_MODE_DISABLED
// This is used both as a sensor and to pass the location // This is used both as a sensor and to pass the location
// in HIL_ATTITUDE mode. // in HIL_ATTITUDE mode.
case MAVLINK_MSG_ID_GPS_RAW: case MAVLINK_MSG_ID_GPS_RAW: //32
{ {
// decode // decode
mavlink_gps_raw_t packet; mavlink_gps_raw_t packet;
@ -1479,7 +1479,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
break; break;
} }
#if HIL_MODE == HIL_MODE_ATTITUDE #if HIL_MODE == HIL_MODE_ATTITUDE
case MAVLINK_MSG_ID_ATTITUDE: case MAVLINK_MSG_ID_ATTITUDE: //30
{ {
// decode // decode
mavlink_attitude_t packet; mavlink_attitude_t packet;
@ -1546,7 +1546,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
*/ */
#if HIL_MODE == HIL_MODE_SENSORS #if HIL_MODE == HIL_MODE_SENSORS
case MAVLINK_MSG_ID_RAW_IMU: case MAVLINK_MSG_ID_RAW_IMU: // 28
{ {
// decode // decode
mavlink_raw_imu_t packet; mavlink_raw_imu_t packet;
@ -1578,7 +1578,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
break; break;
} }
case MAVLINK_MSG_ID_RAW_PRESSURE: case MAVLINK_MSG_ID_RAW_PRESSURE: //29
{ {
// decode // decode
mavlink_raw_pressure_t packet; mavlink_raw_pressure_t packet;

2
ArduCopter/motors.pde
View File

@ -82,7 +82,7 @@ static void init_arm_motors()
init_simple_bearing(); init_simple_bearing();
// Reset home position // Reset home position
// ---------------------- // -------------------
if(home_is_set) if(home_is_set)
init_home(); init_home();

2
ArduCopter/motors_quad.pde
View File

@ -126,7 +126,7 @@ static void output_motors_disarmed()
} }
/* /*
static void debug_motors() //static void debug_motors()
{ {
Serial.printf("1:%d\t2:%d\t3:%d\t4:%d\n", Serial.printf("1:%d\t2:%d\t3:%d\t4:%d\n",
motor_out[CH_1], motor_out[CH_1],

13
ArduCopter/navigation.pde
View File

@ -67,7 +67,6 @@ static void calc_loiter(int x_error, int y_error)
int y_target_speed = g.pi_loiter_lat.get_pi(y_error, dTnav); int y_target_speed = g.pi_loiter_lat.get_pi(y_error, dTnav);
// find the rates: // find the rates:
//float temp = radians((float)g_gps->ground_course/100.0);
float temp = g_gps->ground_course * RADX100; float temp = g_gps->ground_course * RADX100;
#ifdef OPTFLOW_ENABLED #ifdef OPTFLOW_ENABLED
@ -255,7 +254,8 @@ static int32_t get_altitude_error()
return next_WP.alt - current_loc.alt; return next_WP.alt - current_loc.alt;
} }
/*static int get_loiter_angle() /*
//static int get_loiter_angle()
{ {
float power; float power;
int angle; int angle;
@ -288,7 +288,7 @@ static int32_t wrap_180(int32_t error)
} }
/* /*
static int32_t get_crosstrack_correction(void) //static int32_t get_crosstrack_correction(void)
{ {
// Crosstrack Error // Crosstrack Error
// ---------------- // ----------------
@ -307,19 +307,20 @@ static int32_t get_crosstrack_correction(void)
} }
*/ */
/* /*
static int32_t cross_track_test() //static int32_t cross_track_test()
{ {
int32_t temp = wrap_180(target_bearing - crosstrack_bearing); int32_t temp = wrap_180(target_bearing - crosstrack_bearing);
return abs(temp); return abs(temp);
} }
*/ */
/* /*
static void reset_crosstrack() //static void reset_crosstrack()
{ {
crosstrack_bearing = get_bearing(&current_loc, &next_WP); // Used for track following crosstrack_bearing = get_bearing(&current_loc, &next_WP); // Used for track following
} }
*/ */
/*static int32_t get_altitude_above_home(void) /*
//static int32_t get_altitude_above_home(void)
{ {
// This is the altitude above the home location // This is the altitude above the home location
// The GPS gives us altitude at Sea Level // The GPS gives us altitude at Sea Level