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uncrustify ArduPlane/control_modes.pde

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uncrustify 2012-08-16 17:50:15 -07:00 committed by Pat Hickey
parent 5dceeed7ce
commit 3938011f39
1 changed files with 27 additions and 27 deletions
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54
ArduPlane/control_modes.pde
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@ -3,12 +3,12 @@
static void read_control_switch()
{
static bool switch_debouncer;
byte switchPosition = readSwitch();
// If switchPosition = 255 this indicates that the mode control channel input was out of range
// If we get this value we do not want to change modes.
if(switchPosition == 255) return;
static bool switch_debouncer;
byte switchPosition = readSwitch();
// If switchPosition = 255 this indicates that the mode control channel input was out of range
// If we get this value we do not want to change modes.
if(switchPosition == 255) return;
// we look for changes in the switch position. If the
// RST_SWITCH_CH parameter is set, then it is a switch that can be
@ -16,8 +16,8 @@ static void read_control_switch()
// when returning to the previous mode after a failsafe or fence
// breach. This channel is best used on a momentary switch (such
// as a spring loaded trainer switch).
if (oldSwitchPosition != switchPosition ||
(g.reset_switch_chan != 0 &&
if (oldSwitchPosition != switchPosition ||
(g.reset_switch_chan != 0 &&
APM_RC.InputCh(g.reset_switch_chan-1) > RESET_SWITCH_CHAN_PWM)) {
if (switch_debouncer == false) {
@ -29,20 +29,20 @@ static void read_control_switch()
return;
}
set_mode(flight_modes[switchPosition]);
set_mode(flight_modes[switchPosition]);
oldSwitchPosition = switchPosition;
prev_WP = current_loc;
oldSwitchPosition = switchPosition;
prev_WP = current_loc;
// reset navigation integrators
// -------------------------
reset_I();
}
// reset navigation integrators
// -------------------------
reset_I();
}
if (g.reset_mission_chan != 0 &&
if (g.reset_mission_chan != 0 &&
APM_RC.InputCh(g.reset_mission_chan-1) > RESET_SWITCH_CHAN_PWM) {
// reset to first waypoint in mission
prev_WP = current_loc;
prev_WP = current_loc;
change_command(1);
}
@ -56,19 +56,19 @@ static void read_control_switch()
}
static byte readSwitch(void){
uint16_t pulsewidth = APM_RC.InputCh(g.flight_mode_channel - 1);
if (pulsewidth <= 910 || pulsewidth >= 2090) return 255; // This is an error condition
if (pulsewidth > 1230 && pulsewidth <= 1360) return 1;
if (pulsewidth > 1360 && pulsewidth <= 1490) return 2;
if (pulsewidth > 1490 && pulsewidth <= 1620) return 3;
if (pulsewidth > 1620 && pulsewidth <= 1749) return 4; // Software Manual
if (pulsewidth >= 1750) return 5; // Hardware Manual
return 0;
uint16_t pulsewidth = APM_RC.InputCh(g.flight_mode_channel - 1);
if (pulsewidth <= 910 || pulsewidth >= 2090) return 255; // This is an error condition
if (pulsewidth > 1230 && pulsewidth <= 1360) return 1;
if (pulsewidth > 1360 && pulsewidth <= 1490) return 2;
if (pulsewidth > 1490 && pulsewidth <= 1620) return 3;
if (pulsewidth > 1620 && pulsewidth <= 1749) return 4; // Software Manual
if (pulsewidth >= 1750) return 5; // Hardware Manual
return 0;
}
static void reset_control_switch()
{
oldSwitchPosition = 0;
read_control_switch();
oldSwitchPosition = 0;
read_control_switch();
}