mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-10 18:08:30 -04:00
ArduCopter: changed all "int" to "int16_t" and a few "long"s to "int32_t".
Also moved "simple_counter" variable from global scope to the "update_simple_mode" function which is the only place that it's actually used.
This commit is contained in:
rmackay9
parent
a72bf6ef57
commit
36f947acb9
@ -906,8 +906,6 @@ static byte medium_loopCounter;
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static byte slow_loopCounter;
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// Counters for branching at 1 hz
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static byte counter_one_herz;
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// Stat machine counter for Simple Mode
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static byte simple_counter;
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// used to track the elapsed time between GPS reads
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static uint32_t nav_loopTimer;
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// Delta Time in milliseconds for navigation computations, updated with every good GPS read
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@ -1609,7 +1607,7 @@ void update_yaw_mode(void)
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void update_roll_pitch_mode(void)
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{
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int control_roll, control_pitch;
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int16_t control_roll, control_pitch;
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if (do_flip){
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if(abs(g.rc_1.control_in) < 4000){
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@ -1719,13 +1717,14 @@ void update_roll_pitch_mode(void)
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// new radio frame is used to make sure we only call this at 50hz
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void update_simple_mode(void)
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{
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static byte simple_counter = 0; // State machine counter for Simple Mode
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static float simple_sin_y=0, simple_cos_x=0;
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// used to manage state machine
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// which improves speed of function
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simple_counter++;
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int delta = wrap_360(ahrs.yaw_sensor - initial_simple_bearing)/100;
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int16_t delta = wrap_360(ahrs.yaw_sensor - initial_simple_bearing)/100;
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if (simple_counter == 1){
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// roll
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@ -1738,8 +1737,8 @@ void update_simple_mode(void)
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}
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// Rotate input by the initial bearing
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int control_roll = g.rc_1.control_in * simple_cos_x + g.rc_2.control_in * simple_sin_y;
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int control_pitch = -(g.rc_1.control_in * simple_sin_y - g.rc_2.control_in * simple_cos_x);
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int16_t control_roll = g.rc_1.control_in * simple_cos_x + g.rc_2.control_in * simple_sin_y;
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int16_t control_pitch = -(g.rc_1.control_in * simple_sin_y - g.rc_2.control_in * simple_cos_x);
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g.rc_1.control_in = control_roll;
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g.rc_2.control_in = control_pitch;
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@ -2089,7 +2088,7 @@ static void update_altitude()
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#if HIL_MODE == HIL_MODE_ATTITUDE
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static int32_t old_baro_alt = 0;
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// we are in the SIM, fake out the baro and Sonar
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int fake_relative_alt = g_gps->altitude - gps_base_alt;
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int16_t fake_relative_alt = g_gps->altitude - gps_base_alt;
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baro_alt = fake_relative_alt;
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sonar_alt = fake_relative_alt;
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@ -2109,14 +2108,14 @@ static void update_altitude()
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// calc the vertical accel rate
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/*
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// 2.6 way
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int temp = (baro_alt - old_baro_alt) * 10;
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int16_t temp = (baro_alt - old_baro_alt) * 10;
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baro_rate = (temp + baro_rate) >> 1;
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baro_rate = constrain(baro_rate, -300, 300);
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old_baro_alt = baro_alt;
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*/
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// Using Tridge's new clamb rate calc
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int temp = barometer.get_climb_rate() * 100;
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int16_t temp = barometer.get_climb_rate() * 100;
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baro_rate = (temp + baro_rate) >> 1;
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baro_rate = constrain(baro_rate, -300, 300);
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#endif
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@ -2382,7 +2381,7 @@ static void update_nav_wp()
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}else if(wp_control == CIRCLE_MODE){
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// check if we have missed the WP
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int loiter_delta = (target_bearing - old_target_bearing)/100;
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int16_t loiter_delta = (target_bearing - old_target_bearing)/100;
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// reset the old value
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old_target_bearing = target_bearing;
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@ -2396,7 +2395,7 @@ static void update_nav_wp()
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// create a virtual waypoint that circles the next_WP
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// Count the degrees we have circulated the WP
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//int circle_angle = wrap_360(target_bearing + 3000 + 18000) / 100;
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//int16_t circle_angle = wrap_360(target_bearing + 3000 + 18000) / 100;
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circle_angle += (circle_rate * dTnav);
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//1° = 0.0174532925 radians
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@ -2423,9 +2422,9 @@ static void update_nav_wp()
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//CIRCLE: angle:29, dist:0, lat:400, lon:242
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// debug
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//int angleTest = degrees(circle_angle);
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//int nroll = nav_roll;
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//int npitch = nav_pitch;
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//int16_t angleTest = degrees(circle_angle);
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//int16_t nroll = nav_roll;
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//int16_t npitch = nav_pitch;
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//Serial.printf("CIRCLE: angle:%d, dist:%d, X:%d, Y:%d, P:%d, R:%d \n", angleTest, (int)wp_distance , (int)long_error, (int)lat_error, npitch, nroll);
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}else if(wp_control == WP_MODE){
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@ -514,7 +514,7 @@ static int16_t heli_get_angle_boost(int16_t throttle)
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{
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float angle_boost_factor = cos_pitch_x * cos_roll_x;
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angle_boost_factor = 1.0 - constrain(angle_boost_factor, .5, 1.0);
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int throttle_above_mid = max(throttle - motors.throttle_mid,0);
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int16_t throttle_above_mid = max(throttle - motors.throttle_mid,0);
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return throttle + throttle_above_mid*angle_boost_factor;
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}
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@ -525,9 +525,9 @@ static int16_t heli_get_angle_boost(int16_t throttle)
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#if ACCEL_ALT_HOLD == 2
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// z -14.4306 = going up
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// z -6.4306 = going down
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static int get_z_damping()
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static int16_t get_z_damping()
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{
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int output;
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int16_t output;
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Z_integrator += get_world_Z_accel() - Z_offset;
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output = Z_integrator * 3;
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@ -546,7 +546,7 @@ float get_world_Z_accel()
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static void init_z_damper()
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{
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Z_offset = 0;
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for (int i = 0; i < NUM_G_SAMPLES; i++){
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for (int16_t i = 0; i < NUM_G_SAMPLES; i++){
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delay(5);
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read_AHRS();
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Z_offset += get_world_Z_accel();
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@ -593,7 +593,7 @@ float get_world_Z_accel()
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static void init_z_damper()
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{
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estimatedAccelOffset = 0;
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for (int i = 0; i < NUM_G_SAMPLES; i++){
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for (int16_t i = 0; i < NUM_G_SAMPLES; i++){
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delay(5);
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read_AHRS();
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estimatedAccelOffset += get_world_Z_accel();
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@ -634,7 +634,7 @@ float dead_reckon_Z(float sensedPos, float sensedAccel)
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return synVelo;
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}
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static int get_z_damping()
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static int16_t get_z_damping()
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{
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float sensedAccel = get_world_Z_accel();
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float sensedPos = current_loc.alt / 100.0;
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@ -645,7 +645,7 @@ static int get_z_damping()
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#else
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static int get_z_damping()
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static int16_t get_z_damping()
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{
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return 0;
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}
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@ -36,12 +36,12 @@ union f_out{
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union i_out {
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byte bytes[2];
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int value;
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int16_t value;
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} intOut;
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union l_out{
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byte bytes[4];
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long value;
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int32_t value;
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} longOut;
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// Add binary values to the buffer
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@ -50,7 +50,7 @@ void write_byte(byte val)
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mess_buffer[buff_pointer++] = val;
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}
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void write_int(int val )
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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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@ -66,7 +66,7 @@ void write_float(float val)
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mess_buffer[buff_pointer++] = floatOut.bytes[3];
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}
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void write_long(long val)
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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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@ -468,7 +468,7 @@ static void NOINLINE send_statustext(mavlink_channel_t chan)
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// try to send a message, return false if it won't fit in the serial tx buffer
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static bool mavlink_try_send_message(mavlink_channel_t chan, enum ap_message id, uint16_t packet_drops)
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{
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int payload_space = comm_get_txspace(chan) - MAVLINK_NUM_NON_PAYLOAD_BYTES;
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int16_t payload_space = comm_get_txspace(chan) - MAVLINK_NUM_NON_PAYLOAD_BYTES;
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if (chan == MAVLINK_COMM_1 && millis() < MAVLINK_TELEMETRY_PORT_DELAY) {
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// defer any messages on the telemetry port for 1 second after
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@ -941,7 +941,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
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if (mavlink_check_target(packet.target_system, packet.target_component))
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break;
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int freq = 0; // packet frequency
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int16_t freq = 0; // packet frequency
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if (packet.start_stop == 0)
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freq = 0; // stop sending
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@ -1334,7 +1334,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
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g.command_total.set_and_save(1);
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// send acknowledgement 3 times to makes sure it is received
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for (int i=0;i<3;i++)
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for (int16_t i=0;i<3;i++)
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mavlink_msg_mission_ack_send(chan, msg->sysid, msg->compid, type);
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break;
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@ -62,10 +62,10 @@ MENU2(log_menu, "Log", log_menu_commands, print_log_menu);
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static bool
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print_log_menu(void)
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{
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int log_start;
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int log_end;
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int temp;
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int last_log_num = DataFlash.find_last_log();
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int16_t log_start;
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int16_t log_end;
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int16_t temp;
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int16_t last_log_num = DataFlash.find_last_log();
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uint16_t num_logs = DataFlash.get_num_logs();
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@ -95,8 +95,8 @@ print_log_menu(void)
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}else{
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Serial.printf_P(PSTR("\n%u logs\n"), (unsigned)num_logs);
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for(int i=num_logs;i>=1;i--) {
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int last_log_start = log_start, last_log_end = log_end;
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for(int16_t i=num_logs;i>=1;i--) {
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int16_t last_log_start = log_start, last_log_end = log_end;
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temp = last_log_num-i+1;
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DataFlash.get_log_boundaries(temp, log_start, log_end);
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Serial.printf_P(PSTR("Log %d, start %d, end %d\n"), temp, log_start, log_end);
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@ -113,9 +113,9 @@ print_log_menu(void)
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static int8_t
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dump_log(uint8_t argc, const Menu::arg *argv)
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{
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int dump_log;
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int dump_log_start;
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int dump_log_end;
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int16_t dump_log;
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int16_t dump_log_start;
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int16_t dump_log_end;
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byte last_log_num;
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// check that the requested log number can be read
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@ -316,7 +316,7 @@ static void Log_Read_Raw()
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/*
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float logvar;
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Serial.printf_P(PSTR("RAW,"));
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for (int y = 0; y < 9; y++) {
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for (int16_t y = 0; y < 9; y++) {
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logvar = get_float(DataFlash.ReadLong());
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Serial.print(logvar);
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Serial.print(", ");
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@ -366,7 +366,7 @@ static void Log_Read_Raw()
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{
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float logvar;
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Serial.printf_P(PSTR("RAW,"));
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for (int y = 0; y < 6; y++) {
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for (int16_t y = 0; y < 6; y++) {
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logvar = get_float(DataFlash.ReadLong());
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Serial.print(logvar);
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Serial.print(", ");
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@ -731,9 +731,9 @@ static void Log_Read_Cmd()
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int8_t temp3 = DataFlash.ReadByte();
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int8_t temp4 = DataFlash.ReadByte();
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int8_t temp5 = DataFlash.ReadByte();
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long temp6 = DataFlash.ReadLong();
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long temp7 = DataFlash.ReadLong();
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long temp8 = DataFlash.ReadLong();
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int32_t temp6 = DataFlash.ReadLong();
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int32_t temp7 = DataFlash.ReadLong();
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int32_t temp8 = DataFlash.ReadLong();
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// 1 2 3 4 5 6 7 8
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Serial.printf_P(PSTR( "CMD, %d, %d, %d, %d, %d, %ld, %ld, %ld\n"),
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@ -900,9 +900,9 @@ static void Log_Read_PID()
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}
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// Read the DataFlash log memory
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static void Log_Read(int start_page, int end_page)
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static void Log_Read(int16_t start_page, int16_t end_page)
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{
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int packet_count = 0;
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int16_t packet_count = 0;
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#ifdef AIRFRAME_NAME
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Serial.printf_P(PSTR((AIRFRAME_NAME)
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@ -923,12 +923,12 @@ static void Log_Read(int start_page, int end_page)
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}
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// Read the DataFlash log memory : Packet Parser
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static int Log_Read_Process(int start_page, int end_page)
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static int16_t Log_Read_Process(int16_t start_page, int16_t end_page)
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{
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byte data;
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byte log_step = 0;
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int page = start_page;
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int packet_count = 0;
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int16_t page = start_page;
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int16_t packet_count = 0;
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DataFlash.StartRead(start_page);
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@ -1031,7 +1031,7 @@ static int Log_Read_Process(int start_page, int end_page)
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static void Log_Write_Startup() {}
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static void Log_Read_Startup() {}
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static void Log_Read(int start_page, int end_page) {}
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static void Log_Read(int16_t start_page, int16_t end_page) {}
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static void Log_Write_Cmd(byte num, struct Location *wp) {}
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static void Log_Write_Mode(byte mode) {}
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static void Log_Write_Raw() {}
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@ -385,7 +385,7 @@ static void load_parameters(void)
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default_dead_zones();
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Serial.println_P(PSTR("done."));
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} else {
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unsigned long before = micros();
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uint32_t before = micros();
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// Load all auto-loaded EEPROM variables
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AP_Param::load_all();
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@ -25,7 +25,7 @@ static void read_control_switch()
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}
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static byte readSwitch(void){
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int pulsewidth = g.rc_5.radio_in; // default for Arducopter
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int16_t pulsewidth = g.rc_5.radio_in; // default for Arducopter
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if (pulsewidth > 1230 && pulsewidth <= 1360) return 1;
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if (pulsewidth > 1360 && pulsewidth <= 1490) return 2;
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@ -9,7 +9,7 @@
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// called at 10hz
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static void arm_motors()
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{
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static int arming_counter;
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static int16_t arming_counter;
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// don't allow arming/disarming in anything but manual
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if ((g.rc_3.control_in > 0) || (arming_counter > LEVEL_DELAY)){
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@ -88,7 +88,7 @@ static void calc_location_error(struct Location *next_loc)
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#define NAV_ERR_MAX 600
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#define NAV_RATE_ERR_MAX 250
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static void calc_loiter(int x_error, int y_error)
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static void calc_loiter(int16_t x_error, int16_t y_error)
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{
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int32_t p,i,d; // used to capture pid values for logging
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int32_t output;
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@ -28,7 +28,7 @@ planner_gcs(uint8_t argc, const Menu::arg *argv)
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{
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gcs0.init(&Serial);
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int loopcount = 0;
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int16_t loopcount = 0;
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while (1) {
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if (millis()-fast_loopTimer > 19) {
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@ -116,7 +116,7 @@ setup_show(uint8_t argc, const Menu::arg *argv)
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static int8_t
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setup_factory(uint8_t argc, const Menu::arg *argv)
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{
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int c;
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int16_t c;
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Serial.printf_P(PSTR("\n'Y' = factory reset, any other key to abort:\n"));
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@ -525,10 +525,10 @@ setup_heli(uint8_t argc, const Menu::arg *argv)
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{
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uint8_t active_servo = 0;
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int value = 0;
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int temp;
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int state = 0; // 0 = set rev+pos, 1 = capture min/max
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int max_roll=0, max_pitch=0, min_collective=0, max_collective=0, min_tail=0, max_tail=0;
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int16_t value = 0;
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int16_t temp;
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int16_t state = 0; // 0 = set rev+pos, 1 = capture min/max
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int16_t max_roll=0, max_pitch=0, min_collective=0, max_collective=0, min_tail=0, max_tail=0;
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// initialise swash plate
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motors.init_swash();
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@ -786,8 +786,8 @@ setup_mag_offset(uint8_t argc, const Menu::arg *argv)
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print_hit_enter();
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init_compass();
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int _min[3] = {0,0,0};
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int _max[3] = {0,0,0};
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int16_t _min[3] = {0,0,0};
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int16_t _max[3] = {0,0,0};
|
||||
|
||||
compass.read();
|
||||
|
||||
@ -973,7 +973,7 @@ static void report_flight_modes()
|
||||
Serial.printf_P(PSTR("Flight modes\n"));
|
||||
print_divider();
|
||||
|
||||
for(int i = 0; i < 6; i++ ){
|
||||
for(int16_t i = 0; i < 6; i++ ){
|
||||
print_switch(i, flight_modes[i], (g.simple_modes & (1<<i)));
|
||||
}
|
||||
print_blanks(2);
|
||||
@ -1085,7 +1085,7 @@ static void zero_eeprom(void)
|
||||
|
||||
Serial.printf_P(PSTR("\nErasing EEPROM\n"));
|
||||
|
||||
for (int i = 0; i < EEPROM_MAX_ADDR; i++) {
|
||||
for (int16_t i = 0; i < EEPROM_MAX_ADDR; i++) {
|
||||
eeprom_write_byte((uint8_t *) i, b);
|
||||
}
|
||||
|
||||
@ -1113,7 +1113,7 @@ print_gyro_offsets(void)
|
||||
#if FRAME_CONFIG == HELI_FRAME
|
||||
|
||||
static RC_Channel *
|
||||
heli_get_servo(int servo_num){
|
||||
heli_get_servo(int16_t servo_num){
|
||||
if( servo_num == CH_1 )
|
||||
return motors._servo_1;
|
||||
if( servo_num == CH_2 )
|
||||
@ -1126,7 +1126,7 @@ heli_get_servo(int servo_num){
|
||||
}
|
||||
|
||||
// Used to read integer values from the serial port
|
||||
static int read_num_from_serial() {
|
||||
static int16_t read_num_from_serial() {
|
||||
byte index = 0;
|
||||
byte timeout = 0;
|
||||
char data[5] = "";
|
||||
@ -1149,7 +1149,7 @@ static int read_num_from_serial() {
|
||||
#endif // CLI_ENABLED
|
||||
|
||||
static void
|
||||
print_blanks(int num)
|
||||
print_blanks(int16_t num)
|
||||
{
|
||||
while(num > 0){
|
||||
num--;
|
||||
|
||||
@ -256,7 +256,7 @@ test_radio(uint8_t argc, const Menu::arg *argv)
|
||||
#if THROTTLE_FAILSAFE
|
||||
byte fail_test;
|
||||
print_hit_enter();
|
||||
for(int i = 0; i < 50; i++){
|
||||
for(int16_t i = 0; i < 50; i++){
|
||||
delay(20);
|
||||
read_radio();
|
||||
}
|
||||
@ -409,7 +409,7 @@ test_radio(uint8_t argc, const Menu::arg *argv)
|
||||
delay(50);
|
||||
|
||||
while(1){
|
||||
for(int i = 0; i < 9; i++){
|
||||
for(int16_t i = 0; i < 9; i++){
|
||||
Serial.printf_P(PSTR("%.1f,"),adc.Ch(i));
|
||||
}
|
||||
Serial.println();
|
||||
@ -511,13 +511,13 @@ test_ins(uint8_t argc, const Menu::arg *argv)
|
||||
|
||||
Serial.printf_P(PSTR("g"));
|
||||
|
||||
for (int i = 0; i < 3; i++) {
|
||||
for (int16_t i = 0; i < 3; i++) {
|
||||
Serial.printf_P(PSTR(" %7.4f"), gyro[i]);
|
||||
}
|
||||
|
||||
Serial.printf_P(PSTR(" a"));
|
||||
|
||||
for (int i = 0; i < 3; i++) {
|
||||
for (int16_t i = 0; i < 3; i++) {
|
||||
Serial.printf_P(PSTR(" %7.4f"),accel[i]);
|
||||
}
|
||||
|
||||
@ -624,7 +624,7 @@ test_imu(uint8_t argc, const Menu::arg *argv)
|
||||
//Serial.println();
|
||||
if(Serial.available() > 0){
|
||||
Serial.printf_P(PSTR("Y to save\n"));
|
||||
int c;
|
||||
int16_t c;
|
||||
c = Serial.read();
|
||||
|
||||
do {
|
||||
@ -823,9 +823,9 @@ test_stab_d(uint8_t argc, const Menu::arg *argv)
|
||||
temp.b.x, temp.b.y, temp.b.z,
|
||||
temp.c.x, temp.c.y, temp.c.z);
|
||||
|
||||
int _pitch = degrees(-asin(temp.c.x));
|
||||
int _roll = degrees(atan2(temp.c.y, temp.c.z));
|
||||
int _yaw = degrees(atan2(temp.b.x, temp.a.x));
|
||||
int16_t _pitch = degrees(-asin(temp.c.x));
|
||||
int16_t _roll = degrees(atan2(temp.c.y, temp.c.z));
|
||||
int16_t _yaw = degrees(atan2(temp.b.x, temp.a.x));
|
||||
Serial.printf_P(PSTR( "angles\n"
|
||||
"%d \t %d \t %d\n\n"),
|
||||
_pitch,
|
||||
|
||||
Loading…
Reference in New Issue
Block a user