Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

ArduCopter: convert to unix style end-of-line

This commit is contained in:
Jaaaky 2019-06-18 21:29:05 +03:00 committed by Randy Mackay
parent f9c35772fe
commit 5ce185e4ac
2 changed files with 67 additions and 67 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

58
ArduCopter/precision_landing.cpp
View File

@ -1,29 +1,29 @@
//
// functions to support precision landing
//
#include "Copter.h"
#if PRECISION_LANDING == ENABLED
void Copter::init_precland()
{
copter.precland.init(400);
}
void Copter::update_precland()
{
int32_t height_above_ground_cm = current_loc.alt;
// use range finder altitude if it is valid, else try to get terrain alt
if (rangefinder_alt_ok()) {
height_above_ground_cm = rangefinder_state.alt_cm;
} else if (terrain_use()) {
if (!current_loc.get_alt_cm(Location::AltFrame::ABOVE_TERRAIN, height_above_ground_cm)) {
height_above_ground_cm = current_loc.alt;
}
}
precland.update(height_above_ground_cm, rangefinder_alt_ok());
}
#endif
//
// functions to support precision landing
//
#include "Copter.h"
#if PRECISION_LANDING == ENABLED
void Copter::init_precland()
{
copter.precland.init(400);
}
void Copter::update_precland()
{
int32_t height_above_ground_cm = current_loc.alt;
// use range finder altitude if it is valid, else try to get terrain alt
if (rangefinder_alt_ok()) {
height_above_ground_cm = rangefinder_state.alt_cm;
} else if (terrain_use()) {
if (!current_loc.get_alt_cm(Location::AltFrame::ABOVE_TERRAIN, height_above_ground_cm)) {
height_above_ground_cm = current_loc.alt;
}
}
precland.update(height_above_ground_cm, rangefinder_alt_ok());
}
#endif

76
ArduCopter/terrain.cpp
View File

@ -1,38 +1,38 @@
#include "Copter.h"
// update terrain data
void Copter::terrain_update()
{
#if AP_TERRAIN_AVAILABLE && AC_TERRAIN
terrain.update();
// tell the rangefinder our height, so it can go into power saving
// mode if available
#if RANGEFINDER_ENABLED == ENABLED
float height;
if (terrain.height_above_terrain(height, true)) {
rangefinder.set_estimated_terrain_height(height);
}
#endif
#endif
}
// log terrain data - should be called at 1hz
void Copter::terrain_logging()
{
#if AP_TERRAIN_AVAILABLE && AC_TERRAIN
if (should_log(MASK_LOG_GPS)) {
terrain.log_terrain_data();
}
#endif
}
// should we use terrain data for things including the home altitude
bool Copter::terrain_use()
{
#if AP_TERRAIN_AVAILABLE && AC_TERRAIN
return (g.terrain_follow > 0);
#else
return false;
#endif
}
#include "Copter.h"
// update terrain data
void Copter::terrain_update()
{
#if AP_TERRAIN_AVAILABLE && AC_TERRAIN
terrain.update();
// tell the rangefinder our height, so it can go into power saving
// mode if available
#if RANGEFINDER_ENABLED == ENABLED
float height;
if (terrain.height_above_terrain(height, true)) {
rangefinder.set_estimated_terrain_height(height);
}
#endif
#endif
}
// log terrain data - should be called at 1hz
void Copter::terrain_logging()
{
#if AP_TERRAIN_AVAILABLE && AC_TERRAIN
if (should_log(MASK_LOG_GPS)) {
terrain.log_terrain_data();
}
#endif
}
// should we use terrain data for things including the home altitude
bool Copter::terrain_use()
{
#if AP_TERRAIN_AVAILABLE && AC_TERRAIN
return (g.terrain_follow > 0);
#else
return false;
#endif
}