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uncrustify ArduPlane/climb_rate.pde

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uncrustify 2012-08-16 17:50:15 -07:00 committed by Pat Hickey
parent 3938011f39
commit 3f54fb67d1
1 changed files with 39 additions and 39 deletions
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78
ArduPlane/climb_rate.pde
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@ -3,58 +3,58 @@
#if 0 // currently unused
struct DataPoint {
unsigned long x;
long y;
unsigned long x;
long y;
};
DataPoint history[ALTITUDE_HISTORY_LENGTH]; // Collection of (x,y) points to regress a rate of change from
unsigned char hindex; // Index in history for the current data point
DataPoint history[ALTITUDE_HISTORY_LENGTH]; // Collection of (x,y) points to regress a rate of change from
unsigned char hindex; // Index in history for the current data point
unsigned long xoffset;
unsigned char n;
unsigned long xoffset;
unsigned char n;
// Intermediate variables for regression calculation
long xi;
long yi;
long xiyi;
unsigned long xi2;
long xi;
long yi;
long xiyi;
unsigned long xi2;
void add_altitude_data(unsigned long xl, long y)
{
//Reset the regression if our X variable overflowed
if (xl < xoffset)
n = 0;
//Reset the regression if our X variable overflowed
if (xl < xoffset)
n = 0;
//To allow calculation of sum(xi*yi), make sure X hasn't exceeded 2^32/2^15/length
if (xl - xoffset > 131072/ALTITUDE_HISTORY_LENGTH)
n = 0;
//To allow calculation of sum(xi*yi), make sure X hasn't exceeded 2^32/2^15/length
if (xl - xoffset > 131072/ALTITUDE_HISTORY_LENGTH)
n = 0;
if (n == ALTITUDE_HISTORY_LENGTH) {
xi -= history[hindex].x;
yi -= history[hindex].y;
xiyi -= (long)history[hindex].x * history[hindex].y;
xi2 -= history[hindex].x * history[hindex].x;
} else {
if (n == 0) {
xoffset = xl;
xi = 0;
yi = 0;
xiyi = 0;
xi2 = 0;
}
n++;
}
if (n == ALTITUDE_HISTORY_LENGTH) {
xi -= history[hindex].x;
yi -= history[hindex].y;
xiyi -= (long)history[hindex].x * history[hindex].y;
xi2 -= history[hindex].x * history[hindex].x;
} else {
if (n == 0) {
xoffset = xl;
xi = 0;
yi = 0;
xiyi = 0;
xi2 = 0;
}
n++;
}
history[hindex].x = xl - xoffset;
history[hindex].y = y;
history[hindex].x = xl - xoffset;
history[hindex].y = y;
xi += history[hindex].x;
yi += history[hindex].y;
xiyi += (long)history[hindex].x * history[hindex].y;
xi2 += history[hindex].x * history[hindex].x;
xi += history[hindex].x;
yi += history[hindex].y;
xiyi += (long)history[hindex].x * history[hindex].y;
xi2 += history[hindex].x * history[hindex].x;
if (++hindex >= ALTITUDE_HISTORY_LENGTH)
hindex = 0;
if (++hindex >= ALTITUDE_HISTORY_LENGTH)
hindex = 0;
}
#endif