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Cleaned up AP_GPS formatting.

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This commit is contained in:
James Goppert 2011-10-28 14:52:50 -04:00
parent dd0ac600b3
commit 57301ce647
28 changed files with 1764 additions and 1756 deletions
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1
Tools/scripts/format.sh
View File

@ -10,3 +10,4 @@ format ArduRover
format ArduBoat
format libraries/APO
format libraries/AP_Common
format libraries/AP_GPS

4
libraries/AP_GPS/AP_GPS_406.cpp
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@ -41,8 +41,8 @@ AP_GPS_406::_configure_gps(void)
const uint8_t gps_checksum[] = {0xA8, 0xAA, 0xAD, 0xAF, 0xC1};
const uint8_t gps_ender[] = {0xB0, 0xB3};
for(int z = 0; z < 2; z++){
for(int x = 0; x < 5; x++){
for(int z = 0; z < 2; z++) {
for(int x = 0; x < 5; x++) {
_port->write(gps_header, sizeof(gps_header)); // Prints the msg header, is the same header for all msg..
_port->write(gps_payload[x]); // Prints the payload, is not the same for every msg
for(int y = 0; y < 6; y++) // Prints 6 zeros

8
libraries/AP_GPS/AP_GPS_IMU.cpp
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@ -56,12 +56,12 @@ AP_GPS_IMU::read(void)
numc = _port->available();
if (numc > 0){
for (int i=0;i<numc;i++){ // Process bytes received
if (numc > 0) {
for (int i=0; i<numc; i++) { // Process bytes received
data = _port->read();
switch(step){ //Normally we start from zero. This is a state machine
switch(step) { //Normally we start from zero. This is a state machine
case 0:
if(data == 0x44) // IMU sync char 1
step++; //OH first data packet is correct, so jump to the next step
@ -92,7 +92,7 @@ AP_GPS_IMU::read(void)
payload_length = data;
checksum(payload_length);
step++;
if (payload_length > 28){
if (payload_length > 28) {
step = 0; //Bad data, so restart to step zero and try again.
payload_counter = 0;
ck_a = 0;

4
libraries/AP_GPS/AP_GPS_IMU.h
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@ -7,7 +7,7 @@
#define MAXPAYLOAD 32
class AP_GPS_IMU : public GPS {
public:
public:
// Methods
AP_GPS_IMU(Stream *s);
@ -25,7 +25,7 @@ class AP_GPS_IMU : public GPS {
virtual void setHIL(long time, float latitude, float longitude, float altitude,
float ground_speed, float ground_course, float speed_3d, uint8_t num_sats);
private:
private:
// Packet checksums
uint8_t ck_a;
uint8_t ck_b;

4
libraries/AP_GPS/AP_GPS_MTK.cpp
View File

@ -56,13 +56,13 @@ AP_GPS_MTK::read(void)
bool parsed = false;
numc = _port->available();
for (int i = 0; i < numc; i++){ // Process bytes received
for (int i = 0; i < numc; i++) { // Process bytes received
// read the next byte
data = _port->read();
restart:
switch(_step){
switch(_step) {
// Message preamble, class, ID detection
//

2
libraries/AP_GPS/AP_GPS_MTK16.cpp
View File

@ -64,7 +64,7 @@ AP_GPS_MTK16::read(void)
data = _port->read();
restart:
switch(_step){
switch(_step) {
// Message preamble, class, ID detection
//

4
libraries/AP_GPS/AP_GPS_None.h
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@ -10,6 +10,8 @@ class AP_GPS_None : public GPS
public:
AP_GPS_None(Stream *s) : GPS(s) {}
virtual void init(void) {};
virtual bool read(void) { return false; };
virtual bool read(void) {
return false;
};
};
#endif

2
libraries/AP_GPS/AP_GPS_SIRF.cpp
View File

@ -65,7 +65,7 @@ AP_GPS_SIRF::read(void)
// read the next byte
data = _port->read();
switch(_step){
switch(_step) {
// Message preamble detection
//

4
libraries/AP_GPS/AP_GPS_UBLOX.cpp
View File

@ -49,12 +49,12 @@ AP_GPS_UBLOX::read(void)
bool parsed = false;
numc = _port->available();
for (int i = 0; i < numc; i++){ // Process bytes received
for (int i = 0; i < numc; i++) { // Process bytes received
// read the next byte
data = _port->read();
switch(_step){
switch(_step) {
// Message preamble detection
//

8
libraries/AP_GPS/GPS.h
View File

@ -43,7 +43,9 @@ public:
///
/// @returns Current GPS status
///
GPS_Status status(void) { return _status; }
GPS_Status status(void) {
return _status;
}
/// GPS time epoch codes
///
@ -59,7 +61,9 @@ public:
///
/// @returns Current GPS time epoch code
///
GPS_Time_Epoch epoch(void) { return _epoch; }
GPS_Time_Epoch epoch(void) {
return _epoch;
}
/// Startup initialisation.
///

2
libraries/AP_GPS/examples/GPS_406_test/GPS_406_test.pde
View File

@ -34,7 +34,7 @@ void loop()
{
delay(20);
gps.update();
if (gps.new_data){
if (gps.new_data) {
Serial.print("gps:");
Serial.print(" Lat:");
Serial.print((float)gps.latitude / T7, DEC);

2
libraries/AP_GPS/examples/GPS_AUTO_test/GPS_AUTO_test.pde
View File

@ -29,7 +29,7 @@ void setup()
void loop()
{
gps->update();
if (gps->new_data){
if (gps->new_data) {
if (gps->fix) {
Serial.printf("\nLat: %.7f Lon: %.7f Alt: %.2fm GSP: %.2fm/s CoG: %d SAT: %d TIM: %lu",
(float)gps->latitude / T7,

2
libraries/AP_GPS/examples/GPS_MTK_test/GPS_MTK_test.pde
View File

@ -32,7 +32,7 @@ void loop()
{
delay(20);
gps.update();
if (gps.new_data){
if (gps.new_data) {
Serial.print("gps:");
Serial.print(" Lat:");
Serial.print((float)gps.latitude / T7, DEC);

5
libraries/AP_GPS/examples/GPS_NMEA_test/GPS_NMEA_test.pde
View File

@ -32,7 +32,8 @@ const uint8_t sirf_to_nmea[] = { 0xa0, 0xa2, // preamble
0x00, 0x00, // pad
0x96, 0x00, // 38400
0x01, 0x25, // checksum TBD
0xb0, 0xb3 }; // postamble
0xb0, 0xb3
}; // postamble
void setup()
{
@ -52,7 +53,7 @@ void setup()
void loop()
{
gps->update();
if (gps->new_data){
if (gps->new_data) {
if (gps->fix) {
Serial.printf("\nLat: %.7f Lon: %.7f Alt: %.2fm GSP: %.2fm/s CoG: %d SAT: %d TIM: %lu",
(float)gps->latitude / T7,

2
libraries/AP_GPS/examples/GPS_UBLOX_test/GPS_UBLOX_test.pde
View File

@ -32,7 +32,7 @@ void loop()
{
delay(20);
gps.update();
if (gps.new_data){
if (gps.new_data) {
Serial.print("gps:");
Serial.print(" Lat:");
Serial.print((float)gps.latitude / T7, DEC);