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Rover: sensors.cpp correct whitespace, remove tabs

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This commit is contained in:
Pierre Kancir 2016-12-20 14:33:45 +01:00 committed by Randy Mackay
parent 25fbfeb5cf
commit 51aaa7efa7
1 changed files with 19 additions and 15 deletions
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14
APMrover2/sensors.cpp
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@ -30,7 +30,7 @@ void Rover::read_receiver_rssi(void)
receiver_rssi = rssi.read_receiver_rssi_uint8();
}
//Calibrate compass
// Calibrate compass
void Rover::compass_cal_update() {
if (!hal.util->get_soft_armed()) {
compass.compass_cal_update();
@ -45,8 +45,8 @@ void Rover::accel_cal_update() {
}
ins.acal_update();
// check if new trim values, and set them float trim_roll, trim_pitch;
float trim_roll,trim_pitch;
if(ins.get_new_trim(trim_roll, trim_pitch)) {
float trim_roll, trim_pitch;
if (ins.get_new_trim(trim_roll, trim_pitch)) {
ahrs.set_trim(Vector3f(trim_roll, trim_pitch, 0));
}
}
@ -149,7 +149,12 @@ void Rover::update_sensor_status_flags(void)
// all present sensors enabled by default except rate control, attitude stabilization, yaw, altitude, position control and motor output which we will set individually
control_sensors_enabled = control_sensors_present & (~MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL & ~MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION & ~MAV_SYS_STATUS_SENSOR_YAW_POSITION & ~MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL & ~MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS & ~MAV_SYS_STATUS_LOGGING);
control_sensors_enabled = control_sensors_present & (~MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL &
~MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION &
~MAV_SYS_STATUS_SENSOR_YAW_POSITION &
~MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL &
~MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS &
~MAV_SYS_STATUS_LOGGING);
switch (control_mode) {
case MANUAL:
@ -223,7 +228,6 @@ void Rover::update_sensor_status_flags(void)
control_sensors_enabled &= ~(MAV_SYS_STATUS_SENSOR_3D_GYRO | MAV_SYS_STATUS_SENSOR_3D_ACCEL);
control_sensors_health &= ~(MAV_SYS_STATUS_SENSOR_3D_GYRO | MAV_SYS_STATUS_SENSOR_3D_ACCEL);
}
#if FRSKY_TELEM_ENABLED == ENABLED
// give mask of error flags to Frsky_Telemetry
frsky_telemetry.update_sensor_status_flags(~control_sensors_health & control_sensors_enabled & control_sensors_present);