From 57f1bd123f8b066bb846fa5108a60e443ede8915 Mon Sep 17 00:00:00 2001 From: uncrustify Date: Tue, 21 Aug 2012 19:19:51 -0700 Subject: [PATCH] uncrustify ArduPlane/commands.pde --- ArduPlane/commands.pde | 288 ++++++++++++++++++++--------------------- 1 file changed, 144 insertions(+), 144 deletions(-) diff --git a/ArduPlane/commands.pde b/ArduPlane/commands.pde index 08860f6ff3..1aa9fcd1e1 100644 --- a/ArduPlane/commands.pde +++ b/ArduPlane/commands.pde @@ -1,117 +1,117 @@ // -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- /* - logic for dealing with the current command in the mission and home location + * logic for dealing with the current command in the mission and home location */ static void init_commands() { g.command_index.set_and_save(0); - nav_command_ID = NO_COMMAND; - non_nav_command_ID = NO_COMMAND; - next_nav_command.id = CMD_BLANK; + nav_command_ID = NO_COMMAND; + non_nav_command_ID = NO_COMMAND; + next_nav_command.id = CMD_BLANK; } static void update_auto() { - if (g.command_index >= g.command_total) { - handle_no_commands(); - if(g.command_total == 0) { - next_WP.lat = home.lat + 1000; // so we don't have bad calcs - next_WP.lng = home.lng + 1000; // so we don't have bad calcs - } - } else { - if(g.command_index != 0) { - g.command_index = nav_command_index; - nav_command_index--; - } - nav_command_ID = NO_COMMAND; - non_nav_command_ID = NO_COMMAND; - next_nav_command.id = CMD_BLANK; - process_next_command(); - } + if (g.command_index >= g.command_total) { + handle_no_commands(); + if(g.command_total == 0) { + next_WP.lat = home.lat + 1000; // so we don't have bad calcs + next_WP.lng = home.lng + 1000; // so we don't have bad calcs + } + } else { + if(g.command_index != 0) { + g.command_index = nav_command_index; + nav_command_index--; + } + nav_command_ID = NO_COMMAND; + non_nav_command_ID = NO_COMMAND; + next_nav_command.id = CMD_BLANK; + process_next_command(); + } } // this is only used by an air-start static void reload_commands_airstart() { - init_commands(); - decrement_cmd_index(); + init_commands(); + decrement_cmd_index(); } // Getters // ------- static struct Location get_cmd_with_index(int16_t i) { - struct Location temp; - int32_t mem; + struct Location temp; + int32_t mem; - // Find out proper location in memory by using the start_byte position + the index - // -------------------------------------------------------------------------------- - if (i > g.command_total) { - memset(&temp, 0, sizeof(temp)); - temp.id = CMD_BLANK; - }else{ - // read WP position - mem = (WP_START_BYTE) + (i * WP_SIZE); - temp.id = eeprom_read_byte((uint8_t*)mem); + // Find out proper location in memory by using the start_byte position + the index + // -------------------------------------------------------------------------------- + if (i > g.command_total) { + memset(&temp, 0, sizeof(temp)); + temp.id = CMD_BLANK; + }else{ + // read WP position + mem = (WP_START_BYTE) + (i * WP_SIZE); + temp.id = eeprom_read_byte((uint8_t*)mem); - mem++; - temp.options = eeprom_read_byte((uint8_t*)mem); + mem++; + temp.options = eeprom_read_byte((uint8_t*)mem); - mem++; - temp.p1 = eeprom_read_byte((uint8_t*)mem); + mem++; + temp.p1 = eeprom_read_byte((uint8_t*)mem); - mem++; - temp.alt = (long)eeprom_read_dword((uint32_t*)mem); + mem++; + temp.alt = (long)eeprom_read_dword((uint32_t*)mem); - mem += 4; - temp.lat = (long)eeprom_read_dword((uint32_t*)mem); + mem += 4; + temp.lat = (long)eeprom_read_dword((uint32_t*)mem); - mem += 4; - temp.lng = (long)eeprom_read_dword((uint32_t*)mem); - } + mem += 4; + temp.lng = (long)eeprom_read_dword((uint32_t*)mem); + } - // Add on home altitude if we are a nav command (or other command with altitude) and stored alt is relative - if ((temp.id < MAV_CMD_NAV_LAST || temp.id == MAV_CMD_CONDITION_CHANGE_ALT) && - (temp.options & MASK_OPTIONS_RELATIVE_ALT) && + // Add on home altitude if we are a nav command (or other command with altitude) and stored alt is relative + if ((temp.id < MAV_CMD_NAV_LAST || temp.id == MAV_CMD_CONDITION_CHANGE_ALT) && + (temp.options & MASK_OPTIONS_RELATIVE_ALT) && (temp.lat != 0 || temp.lng != 0)) { - temp.alt += home.alt; - } + temp.alt += home.alt; + } - return temp; + return temp; } // Setters // ------- static void set_cmd_with_index(struct Location temp, int16_t i) { - i = constrain(i, 0, g.command_total.get()); - intptr_t mem = WP_START_BYTE + (i * WP_SIZE); + i = constrain(i, 0, g.command_total.get()); + intptr_t mem = WP_START_BYTE + (i * WP_SIZE); - // Set altitude options bitmask - // XXX What is this trying to do? - if (temp.options & MASK_OPTIONS_RELATIVE_ALT && i != 0){ - temp.options = MASK_OPTIONS_RELATIVE_ALT; - } else { - temp.options = 0; - } + // Set altitude options bitmask + // XXX What is this trying to do? + if (temp.options & MASK_OPTIONS_RELATIVE_ALT && i != 0) { + temp.options = MASK_OPTIONS_RELATIVE_ALT; + } else { + temp.options = 0; + } - eeprom_write_byte((uint8_t *) mem, temp.id); + eeprom_write_byte((uint8_t *) mem, temp.id); - mem++; - eeprom_write_byte((uint8_t *) mem, temp.options); + mem++; + eeprom_write_byte((uint8_t *) mem, temp.options); - mem++; - eeprom_write_byte((uint8_t *) mem, temp.p1); + mem++; + eeprom_write_byte((uint8_t *) mem, temp.p1); - mem++; - eeprom_write_dword((uint32_t *) mem, temp.alt); + mem++; + eeprom_write_dword((uint32_t *) mem, temp.alt); - mem += 4; - eeprom_write_dword((uint32_t *) mem, temp.lat); + mem += 4; + eeprom_write_dword((uint32_t *) mem, temp.lat); - mem += 4; - eeprom_write_dword((uint32_t *) mem, temp.lng); + mem += 4; + eeprom_write_dword((uint32_t *) mem, temp.lng); } static void decrement_cmd_index() @@ -123,26 +123,26 @@ static void decrement_cmd_index() static int32_t read_alt_to_hold() { - if (g.RTL_altitude_cm < 0) { - return current_loc.alt; + if (g.RTL_altitude_cm < 0) { + return current_loc.alt; } return g.RTL_altitude_cm + home.alt; } /* -This function stores waypoint commands -It looks to see what the next command type is and finds the last command. -*/ + * This function stores waypoint commands + * It looks to see what the next command type is and finds the last command. + */ static void set_next_WP(struct Location *wp) { - // copy the current WP into the OldWP slot - // --------------------------------------- - prev_WP = next_WP; + // copy the current WP into the OldWP slot + // --------------------------------------- + prev_WP = next_WP; - // Load the next_WP slot - // --------------------- - next_WP = *wp; + // Load the next_WP slot + // --------------------- + next_WP = *wp; // if lat and lon is zero, then use current lat/lon // this allows a mission to contain a "loiter on the spot" @@ -167,96 +167,96 @@ static void set_next_WP(struct Location *wp) prev_WP = current_loc; } - // used to control FBW and limit the rate of climb - // ----------------------------------------------- - target_altitude_cm = current_loc.alt; + // used to control FBW and limit the rate of climb + // ----------------------------------------------- + target_altitude_cm = current_loc.alt; - if(prev_WP.id != MAV_CMD_NAV_TAKEOFF && prev_WP.alt != home.alt && (next_WP.id == MAV_CMD_NAV_WAYPOINT || next_WP.id == MAV_CMD_NAV_LAND)) - offset_altitude_cm = next_WP.alt - prev_WP.alt; - else - offset_altitude_cm = 0; + if(prev_WP.id != MAV_CMD_NAV_TAKEOFF && prev_WP.alt != home.alt && (next_WP.id == MAV_CMD_NAV_WAYPOINT || next_WP.id == MAV_CMD_NAV_LAND)) + offset_altitude_cm = next_WP.alt - prev_WP.alt; + else + offset_altitude_cm = 0; - // zero out our loiter vals to watch for missed waypoints - loiter_delta = 0; - loiter_sum = 0; - loiter_total = 0; + // zero out our loiter vals to watch for missed waypoints + loiter_delta = 0; + loiter_sum = 0; + loiter_total = 0; - // this is handy for the groundstation - wp_totalDistance = get_distance(¤t_loc, &next_WP); - wp_distance = wp_totalDistance; - target_bearing_cd = get_bearing_cd(¤t_loc, &next_WP); - nav_bearing_cd = target_bearing_cd; + // this is handy for the groundstation + wp_totalDistance = get_distance(¤t_loc, &next_WP); + wp_distance = wp_totalDistance; + target_bearing_cd = get_bearing_cd(¤t_loc, &next_WP); + nav_bearing_cd = target_bearing_cd; - // to check if we have missed the WP - // ---------------------------- - old_target_bearing_cd = target_bearing_cd; + // to check if we have missed the WP + // ---------------------------- + old_target_bearing_cd = target_bearing_cd; - // set a new crosstrack bearing - // ---------------------------- - reset_crosstrack(); + // set a new crosstrack bearing + // ---------------------------- + reset_crosstrack(); } static void set_guided_WP(void) { - // copy the current location into the OldWP slot - // --------------------------------------- - prev_WP = current_loc; + // copy the current location into the OldWP slot + // --------------------------------------- + prev_WP = current_loc; - // Load the next_WP slot - // --------------------- - next_WP = guided_WP; + // Load the next_WP slot + // --------------------- + next_WP = guided_WP; - // used to control FBW and limit the rate of climb - // ----------------------------------------------- - target_altitude_cm = current_loc.alt; - offset_altitude_cm = next_WP.alt - prev_WP.alt; + // used to control FBW and limit the rate of climb + // ----------------------------------------------- + target_altitude_cm = current_loc.alt; + offset_altitude_cm = next_WP.alt - prev_WP.alt; - // this is handy for the groundstation - wp_totalDistance = get_distance(¤t_loc, &next_WP); - wp_distance = wp_totalDistance; - target_bearing_cd = get_bearing_cd(¤t_loc, &next_WP); + // this is handy for the groundstation + wp_totalDistance = get_distance(¤t_loc, &next_WP); + wp_distance = wp_totalDistance; + target_bearing_cd = get_bearing_cd(¤t_loc, &next_WP); - // to check if we have missed the WP - // ---------------------------- - old_target_bearing_cd = target_bearing_cd; + // to check if we have missed the WP + // ---------------------------- + old_target_bearing_cd = target_bearing_cd; - // set a new crosstrack bearing - // ---------------------------- - reset_crosstrack(); + // set a new crosstrack bearing + // ---------------------------- + reset_crosstrack(); } // run this at setup on the ground // ------------------------------- void init_home() { - gcs_send_text_P(SEVERITY_LOW, PSTR("init home")); + gcs_send_text_P(SEVERITY_LOW, PSTR("init home")); - // block until we get a good fix - // ----------------------------- - while (!g_gps->new_data || !g_gps->fix) { - g_gps->update(); - } + // block until we get a good fix + // ----------------------------- + while (!g_gps->new_data || !g_gps->fix) { + g_gps->update(); + } - home.id = MAV_CMD_NAV_WAYPOINT; - home.lng = g_gps->longitude; // Lon * 10**7 - home.lat = g_gps->latitude; // Lat * 10**7 - home.alt = max(g_gps->altitude, 0); - home_is_set = true; + home.id = MAV_CMD_NAV_WAYPOINT; + home.lng = g_gps->longitude; // Lon * 10**7 + home.lat = g_gps->latitude; // Lat * 10**7 + home.alt = max(g_gps->altitude, 0); + home_is_set = true; gcs_send_text_fmt(PSTR("gps alt: %lu"), (unsigned long)home.alt); - // Save Home to EEPROM - Command 0 - // ------------------- - set_cmd_with_index(home, 0); + // Save Home to EEPROM - Command 0 + // ------------------- + set_cmd_with_index(home, 0); - // Save prev loc - // ------------- - next_WP = prev_WP = home; + // Save prev loc + // ------------- + next_WP = prev_WP = home; - // Load home for a default guided_WP - // ------------- - guided_WP = home; - guided_WP.alt += g.RTL_altitude_cm; + // Load home for a default guided_WP + // ------------- + guided_WP = home; + guided_WP.alt += g.RTL_altitude_cm; }