mirror of
https://github.com/ArduPilot/ardupilot
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uncrustify ArduPlane/ArduPlane.pde
This commit is contained in:
uncrustify
Pat Hickey
parent
57f1bd123f
commit
5e913c72c4
@ -2,16 +2,16 @@
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#define THISFIRMWARE "ArduPlane V2.50"
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/*
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Authors: Doug Weibel, Jose Julio, Jordi Munoz, Jason Short, Andrew Tridgell, Randy Mackay, Pat Hickey, John Arne Birkeland, Olivier Adler, Amilcar Lucas, Gregory Fletcher
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Thanks to: Chris Anderson, Michael Oborne, Paul Mather, Bill Premerlani, James Cohen, JB from rotorFX, Automatik, Fefenin, Peter Meister, Remzibi, Yury Smirnov, Sandro Benigno, Max Levine, Roberto Navoni, Lorenz Meier, Yury MonZon
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Please contribute your ideas!
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This firmware is free software; you can redistribute it and/or
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modify it under the terms of the GNU Lesser General Public
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License as published by the Free Software Foundation; either
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version 2.1 of the License, or (at your option) any later version.
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*/
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* Authors: Doug Weibel, Jose Julio, Jordi Munoz, Jason Short, Andrew Tridgell, Randy Mackay, Pat Hickey, John Arne Birkeland, Olivier Adler, Amilcar Lucas, Gregory Fletcher
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* Thanks to: Chris Anderson, Michael Oborne, Paul Mather, Bill Premerlani, James Cohen, JB from rotorFX, Automatik, Fefenin, Peter Meister, Remzibi, Yury Smirnov, Sandro Benigno, Max Levine, Roberto Navoni, Lorenz Meier, Yury MonZon
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* Please contribute your ideas!
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*
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*
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* This firmware is free software; you can redistribute it and/or
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* modify it under the terms of the GNU Lesser General Public
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* License as published by the Free Software Foundation; either
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* version 2.1 of the License, or (at your option) any later version.
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*/
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////////////////////////////////////////////////////////////////////////////////
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// Header includes
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@ -33,7 +33,7 @@ version 2.1 of the License, or (at your option) any later version.
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#include <SPI.h> // Arduino SPI lib
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#include <DataFlash.h> // ArduPilot Mega Flash Memory Library
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#include <AP_ADC.h> // ArduPilot Mega Analog to Digital Converter Library
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#include <AP_AnalogSource.h>// ArduPilot Mega polymorphic analog getter
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#include <AP_AnalogSource.h> // ArduPilot Mega polymorphic analog getter
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#include <AP_PeriodicProcess.h> // ArduPilot Mega TimerProcess
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#include <AP_Baro.h> // ArduPilot barometer library
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#include <AP_Compass.h> // ArduPilot Mega Magnetometer Library
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@ -77,10 +77,10 @@ version 2.1 of the License, or (at your option) any later version.
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FastSerialPort0(Serial); // FTDI/console
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FastSerialPort1(Serial1); // GPS port
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#if TELEMETRY_UART2 == ENABLED
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// solder bridge set to enable UART2 instead of USB MUX
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FastSerialPort2(Serial3);
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// solder bridge set to enable UART2 instead of USB MUX
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FastSerialPort2(Serial3);
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#else
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FastSerialPort3(Serial3); // Telemetry port for APM1
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FastSerialPort3(Serial3); // Telemetry port for APM1
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#endif
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// this sets up the parameter table, and sets the default values. This
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@ -91,7 +91,7 @@ AP_Param param_loader(var_info, WP_START_BYTE);
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// Outback Challenge failsafe support
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#if OBC_FAILSAFE == ENABLED
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#include <APM_OBC.h>
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#include <APM_OBC.h>
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APM_OBC obc;
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#endif
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@ -106,18 +106,18 @@ Arduino_Mega_ISR_Registry isr_registry;
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// APM_RC_Class Instance
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////////////////////////////////////////////////////////////////////////////////
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#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
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APM_RC_APM2 APM_RC;
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APM_RC_APM2 APM_RC;
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#else
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APM_RC_APM1 APM_RC;
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APM_RC_APM1 APM_RC;
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#endif
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////////////////////////////////////////////////////////////////////////////////
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// Dataflash
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////////////////////////////////////////////////////////////////////////////////
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#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
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DataFlash_APM2 DataFlash;
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DataFlash_APM2 DataFlash;
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#else
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DataFlash_APM1 DataFlash;
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DataFlash_APM1 DataFlash;
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#endif
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@ -157,61 +157,61 @@ static AP_Int8 *flight_modes = &g.flight_mode1;
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#if HIL_MODE == HIL_MODE_DISABLED
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// real sensors
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#if CONFIG_ADC == ENABLED
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#if CONFIG_ADC == ENABLED
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static AP_ADC_ADS7844 adc;
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#endif
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#endif
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#ifdef DESKTOP_BUILD
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#ifdef DESKTOP_BUILD
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AP_Baro_BMP085_HIL barometer;
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AP_Compass_HIL compass;
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#include <SITL.h>
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#include <SITL.h>
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SITL sitl;
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#else
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#else
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#if CONFIG_BARO == AP_BARO_BMP085
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# if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
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#if CONFIG_BARO == AP_BARO_BMP085
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# if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
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static AP_Baro_BMP085 barometer(true);
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# else
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# else
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static AP_Baro_BMP085 barometer(false);
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# endif
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#elif CONFIG_BARO == AP_BARO_MS5611
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# endif
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#elif CONFIG_BARO == AP_BARO_MS5611
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static AP_Baro_MS5611 barometer;
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#endif
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#endif
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static AP_Compass_HMC5843 compass;
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#endif
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#endif
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// real GPS selection
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#if GPS_PROTOCOL == GPS_PROTOCOL_AUTO
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#if GPS_PROTOCOL == GPS_PROTOCOL_AUTO
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AP_GPS_Auto g_gps_driver(&Serial1, &g_gps);
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#elif GPS_PROTOCOL == GPS_PROTOCOL_NMEA
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#elif GPS_PROTOCOL == GPS_PROTOCOL_NMEA
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AP_GPS_NMEA g_gps_driver(&Serial1);
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#elif GPS_PROTOCOL == GPS_PROTOCOL_SIRF
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#elif GPS_PROTOCOL == GPS_PROTOCOL_SIRF
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AP_GPS_SIRF g_gps_driver(&Serial1);
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#elif GPS_PROTOCOL == GPS_PROTOCOL_UBLOX
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#elif GPS_PROTOCOL == GPS_PROTOCOL_UBLOX
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AP_GPS_UBLOX g_gps_driver(&Serial1);
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#elif GPS_PROTOCOL == GPS_PROTOCOL_MTK
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#elif GPS_PROTOCOL == GPS_PROTOCOL_MTK
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AP_GPS_MTK g_gps_driver(&Serial1);
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#elif GPS_PROTOCOL == GPS_PROTOCOL_MTK16
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#elif GPS_PROTOCOL == GPS_PROTOCOL_MTK16
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AP_GPS_MTK16 g_gps_driver(&Serial1);
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#elif GPS_PROTOCOL == GPS_PROTOCOL_NONE
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#elif GPS_PROTOCOL == GPS_PROTOCOL_NONE
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AP_GPS_None g_gps_driver(NULL);
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#else
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#else
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#error Unrecognised GPS_PROTOCOL setting.
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#endif // GPS PROTOCOL
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#endif // GPS PROTOCOL
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# if CONFIG_IMU_TYPE == CONFIG_IMU_MPU6000
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AP_InertialSensor_MPU6000 ins( CONFIG_MPU6000_CHIP_SELECT_PIN );
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# else
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AP_InertialSensor_Oilpan ins( &adc );
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#endif // CONFIG_IMU_TYPE
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# if CONFIG_IMU_TYPE == CONFIG_IMU_MPU6000
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AP_InertialSensor_MPU6000 ins( CONFIG_MPU6000_CHIP_SELECT_PIN );
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# else
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AP_InertialSensor_Oilpan ins( &adc );
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#endif // CONFIG_IMU_TYPE
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AP_IMU_INS imu( &ins );
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AP_AHRS_DCM ahrs(&imu, g_gps);
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@ -233,11 +233,11 @@ AP_AHRS_HIL ahrs(&imu, g_gps);
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AP_GPS_HIL g_gps_driver(NULL);
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AP_Compass_HIL compass; // never used
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AP_Baro_BMP085_HIL barometer;
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#ifdef DESKTOP_BUILD
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#include <SITL.h>
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#ifdef DESKTOP_BUILD
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#include <SITL.h>
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SITL sitl;
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AP_InertialSensor_Oilpan ins( &adc );
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#endif
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#endif
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#else
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#error Unrecognised HIL_MODE setting.
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@ -268,11 +268,11 @@ AP_AnalogSource_Arduino pitot_analog_source(CONFIG_PITOT_SOURCE_ANALOG_PIN, 4.0)
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#endif
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#if SONAR_TYPE == MAX_SONAR_XL
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AP_RangeFinder_MaxsonarXL sonar(&pitot_analog_source, &sonar_mode_filter);
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AP_RangeFinder_MaxsonarXL sonar(&pitot_analog_source, &sonar_mode_filter);
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#elif SONAR_TYPE == MAX_SONAR_LV
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// XXX honestly I think these output the same values
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// If someone knows, can they confirm it?
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AP_RangeFinder_MaxsonarXL sonar(&pitot_analog_source, &sonar_mode_filter);
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// XXX honestly I think these output the same values
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// If someone knows, can they confirm it?
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AP_RangeFinder_MaxsonarXL sonar(&pitot_analog_source, &sonar_mode_filter);
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#endif
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AP_Relay relay;
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@ -305,22 +305,23 @@ static const char* flight_mode_strings[] = {
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"RTL",
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"Loiter",
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"Takeoff",
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"Land"};
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"Land"
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};
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/* Radio values
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Channel assignments
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1 Ailerons (rudder if no ailerons)
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2 Elevator
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3 Throttle
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4 Rudder (if we have ailerons)
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5 Aux5
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6 Aux6
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7 Aux7
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8 Aux8/Mode
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Each Aux channel can be configured to have any of the available auxiliary functions assigned to it.
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See libraries/RC_Channel/RC_Channel_aux.h for more information
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*/
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* Channel assignments
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* 1 Ailerons (rudder if no ailerons)
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* 2 Elevator
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* 3 Throttle
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* 4 Rudder (if we have ailerons)
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* 5 Aux5
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* 6 Aux6
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* 7 Aux7
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* 8 Aux8/Mode
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* Each Aux channel can be configured to have any of the available auxiliary functions assigned to it.
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* See libraries/RC_Channel/RC_Channel_aux.h for more information
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*/
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////////////////////////////////////////////////////////////////////////////////
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// Radio
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@ -713,7 +714,7 @@ void loop()
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medium_loop();
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counter_one_herz++;
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if(counter_one_herz == 50){
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if(counter_one_herz == 50) {
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one_second_loop();
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counter_one_herz = 0;
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}
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@ -721,9 +722,9 @@ void loop()
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if (millis() - perf_mon_timer > 20000) {
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if (mainLoop_count != 0) {
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if (g.log_bitmask & MASK_LOG_PM)
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#if HIL_MODE != HIL_MODE_ATTITUDE
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#if HIL_MODE != HIL_MODE_ATTITUDE
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Log_Write_Performance();
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#endif
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#endif
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resetPerfData();
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}
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@ -753,30 +754,30 @@ static void fast_loop()
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// ------------------------------------
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check_short_failsafe();
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#if HIL_MODE == HIL_MODE_SENSORS
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#if HIL_MODE == HIL_MODE_SENSORS
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// update hil before AHRS update
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gcs_update();
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#endif
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#endif
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ahrs.update();
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// uses the yaw from the DCM to give more accurate turns
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calc_bearing_error();
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# if HIL_MODE == HIL_MODE_DISABLED
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# if HIL_MODE == HIL_MODE_DISABLED
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if (g.log_bitmask & MASK_LOG_ATTITUDE_FAST)
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Log_Write_Attitude(ahrs.roll_sensor, ahrs.pitch_sensor, ahrs.yaw_sensor);
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if (g.log_bitmask & MASK_LOG_RAW)
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Log_Write_Raw();
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#endif
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#endif
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// inertial navigation
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// ------------------
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#if INERTIAL_NAVIGATION == ENABLED
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#if INERTIAL_NAVIGATION == ENABLED
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// TODO: implement inertial nav function
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inertialNavigation();
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#endif
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#endif
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// custom code/exceptions for flight modes
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// ---------------------------------------
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@ -817,28 +818,28 @@ static void medium_loop()
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//-------------------------------
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case 0:
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medium_loopCounter++;
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if(GPS_enabled){
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if(GPS_enabled) {
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update_GPS();
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calc_gndspeed_undershoot();
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}
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#if HIL_MODE != HIL_MODE_ATTITUDE
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#if HIL_MODE != HIL_MODE_ATTITUDE
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if (g.compass_enabled && compass.read()) {
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ahrs.set_compass(&compass);
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compass.null_offsets();
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} else {
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ahrs.set_compass(NULL);
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}
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#endif
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#endif
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/*{
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Serial.print(ahrs.roll_sensor, DEC); Serial.printf_P(PSTR("\t"));
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Serial.print(ahrs.pitch_sensor, DEC); Serial.printf_P(PSTR("\t"));
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Serial.print(ahrs.yaw_sensor, DEC); Serial.printf_P(PSTR("\t"));
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Vector3f tempaccel = imu.get_accel();
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Serial.print(tempaccel.x, DEC); Serial.printf_P(PSTR("\t"));
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Serial.print(tempaccel.y, DEC); Serial.printf_P(PSTR("\t"));
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Serial.println(tempaccel.z, DEC);
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}*/
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* Serial.print(ahrs.roll_sensor, DEC); Serial.printf_P(PSTR("\t"));
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* Serial.print(ahrs.pitch_sensor, DEC); Serial.printf_P(PSTR("\t"));
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* Serial.print(ahrs.yaw_sensor, DEC); Serial.printf_P(PSTR("\t"));
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* Vector3f tempaccel = imu.get_accel();
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* Serial.print(tempaccel.x, DEC); Serial.printf_P(PSTR("\t"));
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* Serial.print(tempaccel.y, DEC); Serial.printf_P(PSTR("\t"));
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* Serial.println(tempaccel.z, DEC);
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* }*/
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break;
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@ -890,13 +891,13 @@ Serial.println(tempaccel.z, DEC);
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case 3:
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medium_loopCounter++;
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#if HIL_MODE != HIL_MODE_ATTITUDE
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#if HIL_MODE != HIL_MODE_ATTITUDE
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if ((g.log_bitmask & MASK_LOG_ATTITUDE_MED) && !(g.log_bitmask & MASK_LOG_ATTITUDE_FAST))
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Log_Write_Attitude(ahrs.roll_sensor, ahrs.pitch_sensor, ahrs.yaw_sensor);
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if (g.log_bitmask & MASK_LOG_CTUN)
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Log_Write_Control_Tuning();
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#endif
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#endif
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if (g.log_bitmask & MASK_LOG_NTUN)
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Log_Write_Nav_Tuning();
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@ -912,7 +913,7 @@ Serial.println(tempaccel.z, DEC);
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delta_ms_medium_loop = millis() - medium_loopTimer_ms;
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medium_loopTimer_ms = millis();
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if (g.battery_monitoring != 0){
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if (g.battery_monitoring != 0) {
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read_battery();
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}
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@ -922,7 +923,7 @@ Serial.println(tempaccel.z, DEC);
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// perform OBC failsafe checks
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obc.check(OBC_MODE(control_mode),
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last_heartbeat_ms,
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g_gps?g_gps->last_fix_time:0);
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g_gps ? g_gps->last_fix_time : 0);
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#endif
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break;
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@ -933,17 +934,17 @@ static void slow_loop()
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{
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// This is the slow (3 1/3 Hz) loop pieces
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//----------------------------------------
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switch (slow_loopCounter){
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switch (slow_loopCounter) {
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case 0:
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slow_loopCounter++;
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check_long_failsafe();
|
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superslow_loopCounter++;
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if(superslow_loopCounter >=200) { // 200 = Execute every minute
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#if HIL_MODE != HIL_MODE_ATTITUDE
|
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#if HIL_MODE != HIL_MODE_ATTITUDE
|
||||
if(g.compass_enabled) {
|
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compass.save_offsets();
|
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}
|
||||
#endif
|
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#endif
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||||
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superslow_loopCounter = 0;
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}
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@ -1005,7 +1006,7 @@ static void update_GPS(void)
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// ---------------
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gps_fix_count++;
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if(ground_start_count > 1){
|
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if(ground_start_count > 1) {
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ground_start_count--;
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ground_start_avg += g_gps->ground_speed;
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|
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@ -1017,7 +1018,7 @@ static void update_GPS(void)
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ground_start_count = 5;
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} else {
|
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if(ENABLE_AIR_START == 1 && (ground_start_avg / 5) < SPEEDFILT){
|
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if(ENABLE_AIR_START == 1 && (ground_start_avg / 5) < SPEEDFILT) {
|
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startup_ground();
|
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if (g.log_bitmask & MASK_LOG_CMD)
|
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@ -1043,10 +1044,10 @@ static void update_GPS(void)
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static void update_current_flight_mode(void)
|
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{
|
||||
if(control_mode == AUTO){
|
||||
if(control_mode == AUTO) {
|
||||
crash_checker();
|
||||
|
||||
switch(nav_command_ID){
|
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switch(nav_command_ID) {
|
||||
case MAV_CMD_NAV_TAKEOFF:
|
||||
if (hold_course != -1) {
|
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calc_nav_roll();
|
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@ -1100,7 +1101,7 @@ static void update_current_flight_mode(void)
|
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// hold_course is only used in takeoff and landing
|
||||
hold_course = -1;
|
||||
|
||||
switch(control_mode){
|
||||
switch(control_mode) {
|
||||
case RTL:
|
||||
case LOITER:
|
||||
case GUIDED:
|
||||
@ -1161,7 +1162,7 @@ static void update_current_flight_mode(void)
|
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nav_roll_cd = g.roll_limit_cd / 3;
|
||||
nav_pitch_cd = 0;
|
||||
|
||||
if (failsafe != FAILSAFE_NONE){
|
||||
if (failsafe != FAILSAFE_NONE) {
|
||||
g.channel_throttle.servo_out = g.throttle_cruise;
|
||||
}
|
||||
break;
|
||||
@ -1185,11 +1186,11 @@ static void update_navigation()
|
||||
// ------------------------------------------------------------------------
|
||||
|
||||
// distance and bearing calcs only
|
||||
if(control_mode == AUTO){
|
||||
if(control_mode == AUTO) {
|
||||
verify_commands();
|
||||
}else{
|
||||
|
||||
switch(control_mode){
|
||||
switch(control_mode) {
|
||||
case LOITER:
|
||||
case RTL:
|
||||
case GUIDED:
|
||||
@ -1204,9 +1205,9 @@ static void update_navigation()
|
||||
|
||||
static void update_alt()
|
||||
{
|
||||
#if HIL_MODE == HIL_MODE_ATTITUDE
|
||||
#if HIL_MODE == HIL_MODE_ATTITUDE
|
||||
current_loc.alt = g_gps->altitude;
|
||||
#else
|
||||
#else
|
||||
// this function is in place to potentially add a sonar sensor in the future
|
||||
//altitude_sensor = BARO;
|
||||
|
||||
@ -1216,7 +1217,7 @@ static void update_alt()
|
||||
} else if (g_gps->fix) {
|
||||
current_loc.alt = g_gps->altitude; // alt_MSL centimeters (meters * 100)
|
||||
}
|
||||
#endif
|
||||
#endif
|
||||
|
||||
geofence_check(true);
|
||||
|
||||
|
||||
Loading…
Reference in New Issue
Block a user