From 37fd49d8de7f63077cbadf9a48fad1bac2f8de08 Mon Sep 17 00:00:00 2001 From: uncrustify Date: Thu, 16 Aug 2012 23:19:49 -0700 Subject: [PATCH] uncrustify libraries/AP_IMU/AP_IMU_INS.h --- libraries/AP_IMU/AP_IMU_INS.h | 124 ++++++++++++++++++++-------------- 1 file changed, 74 insertions(+), 50 deletions(-) diff --git a/libraries/AP_IMU/AP_IMU_INS.h b/libraries/AP_IMU/AP_IMU_INS.h index 58158e2c5e..4c51acffbe 100644 --- a/libraries/AP_IMU/AP_IMU_INS.h +++ b/libraries/AP_IMU/AP_IMU_INS.h @@ -26,66 +26,90 @@ public: /// @param adc Pointer to the AP_ADC instance that is connected to the gyro and accelerometer. /// @param key The AP_Var::key value we will use when loading/saving calibration data. /// - AP_IMU_INS(AP_InertialSensor *ins) : + AP_IMU_INS(AP_InertialSensor *ins) : _ins(ins) - { - _product_id = AP_PRODUCT_ID_NONE; // set during hardware init - } + { + _product_id = AP_PRODUCT_ID_NONE; // set during hardware init + } - /// Do warm or cold start. - /// - /// @note For a partial-warmstart where e.g. the accelerometer calibration should be preserved - /// but the gyro cal needs to be re-performed, start with ::init(WARM_START) to load the - /// previous calibration settings, then force a re-calibration of the gyro with ::init_gyro. - /// - /// @param style Selects the initialisation style. - /// COLD_START performs calibration of both the accelerometer and gyro. - /// WARM_START loads accelerometer and gyro calibration from a previous cold start. - /// - virtual void init( Start_style style = COLD_START, - void (*delay_cb)(unsigned long t) = delay, - void (*flash_leds_cb)(bool on) = NULL, - AP_PeriodicProcess *scheduler = NULL ); + /// Do warm or cold start. + /// + /// @note For a partial-warmstart where e.g. the accelerometer calibration should be preserved + /// but the gyro cal needs to be re-performed, start with ::init(WARM_START) to load the + /// previous calibration settings, then force a re-calibration of the gyro with ::init_gyro. + /// + /// @param style Selects the initialisation style. + /// COLD_START performs calibration of both the accelerometer and gyro. + /// WARM_START loads accelerometer and gyro calibration from a previous cold start. + /// + virtual void init( Start_style style = COLD_START, + void (*delay_cb)(unsigned long t) = delay, + void (*flash_leds_cb)(bool on) = NULL, + AP_PeriodicProcess * scheduler = NULL ); - virtual void save(); - virtual void init_accel(void (*delay_cb)(unsigned long t) = delay, - void (*flash_leds_cb)(bool on) = NULL); - virtual void init_gyro(void (*delay_cb)(unsigned long t) = delay, - void (*flash_leds_cb)(bool on) = NULL); - virtual bool update(void); - virtual bool new_data_available(void); + virtual void save(); + virtual void init_accel(void (*delay_cb)(unsigned long t) = delay, + void (*flash_leds_cb)(bool on) = NULL); + virtual void init_gyro(void (*delay_cb)(unsigned long t) = delay, + void (*flash_leds_cb)(bool on) = NULL); + virtual bool update(void); + virtual bool new_data_available(void); - // for jason - virtual float gx() { return _sensor_cal[0]; } - virtual float gy() { return _sensor_cal[1]; } - virtual float gz() { return _sensor_cal[2]; } - virtual float ax() { return _sensor_cal[3]; } - virtual float ay() { return _sensor_cal[4]; } - virtual float az() { return _sensor_cal[5]; } + // for jason + virtual float gx() { + return _sensor_cal[0]; + } + virtual float gy() { + return _sensor_cal[1]; + } + virtual float gz() { + return _sensor_cal[2]; + } + virtual float ax() { + return _sensor_cal[3]; + } + virtual float ay() { + return _sensor_cal[4]; + } + virtual float az() { + return _sensor_cal[5]; + } + + virtual void gx(const float v) { + _sensor_cal[0] = v; + } + virtual void gy(const float v) { + _sensor_cal[1] = v; + } + virtual void gz(const float v) { + _sensor_cal[2] = v; + } + virtual void ax(const float v) { + _sensor_cal[3] = v; + } + virtual void ay(const float v) { + _sensor_cal[4] = v; + } + virtual void az(const float v) { + _sensor_cal[5] = v; + } + virtual float get_gyro_drift_rate(void); - virtual void gx(const float v) { _sensor_cal[0] = v; } - virtual void gy(const float v) { _sensor_cal[1] = v; } - virtual void gz(const float v) { _sensor_cal[2] = v; } - virtual void ax(const float v) { _sensor_cal[3] = v; } - virtual void ay(const float v) { _sensor_cal[4] = v; } - virtual void az(const float v) { _sensor_cal[5] = v; } - virtual float get_gyro_drift_rate(void); - private: - AP_InertialSensor *_ins; ///< INS provides an axis and unit correct sensor source. + AP_InertialSensor * _ins; ///< INS provides an axis and unit correct sensor source. - virtual void _init_accel(void (*delay_cb)(unsigned long t), - void (*flash_leds_cb)(bool on) = NULL); ///< no-save implementation - virtual void _init_gyro(void (*delay_cb)(unsigned long t), - void (*flash_leds_cb)(bool on) = NULL); ///< no-save implementation + virtual void _init_accel(void (*delay_cb)(unsigned long t), + void (*flash_leds_cb)(bool on) = NULL); ///< no-save implementation + virtual void _init_gyro(void (*delay_cb)(unsigned long t), + void (*flash_leds_cb)(bool on) = NULL); ///< no-save implementation - float _calibrated(uint8_t channel, float ins_value); + float _calibrated(uint8_t channel, float ins_value); - // Gyro and Accelerometer calibration criteria - // - static const float _accel_total_cal_change = 4.0; - static const float _accel_max_cal_offset = 250.0; + // Gyro and Accelerometer calibration criteria + // + static const float _accel_total_cal_change = 4.0; + static const float _accel_max_cal_offset = 250.0; };