Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-03 06:28:27 -04:00
Code Issues Packages Projects Releases Wiki Activity

Rover: formatting fixes and const local variables

Browse Source
This commit is contained in:
khancyr 2017-08-03 11:53:22 +02:00 committed by Randy Mackay
parent 848df551ac
commit 7c3374668e
3 changed files with 11 additions and 14 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1
APMrover2/Log.cpp
View File

@ -503,7 +503,6 @@ void Rover::log_init(void)
DataFlash.Init(log_structure, ARRAY_SIZE(log_structure));
gcs().reset_cli_timeout();
}
#if CLI_ENABLED == ENABLED

14
APMrover2/sensors.cpp
View File

@ -104,7 +104,7 @@ void Rover::update_wheel_encoder()
g2.wheel_encoder.update();
// initialise on first iteration
uint32_t now = AP_HAL::millis();
const uint32_t now = AP_HAL::millis();
if (wheel_encoder_last_ekf_update_ms == 0) {
wheel_encoder_last_ekf_update_ms = now;
for (uint8_t i = 0; i < g2.wheel_encoder.num_sensors(); i++) {
@ -119,18 +119,17 @@ void Rover::update_wheel_encoder()
// send delta time (time between this wheel encoder time and previous wheel encoder time)
// in case where wheel hasn't moved, count = 0 (cap the delta time at 50ms - or system time)
// use system clock of last update instead of time of last ping
float system_dt = (now - wheel_encoder_last_ekf_update_ms) / 1000.0f;
const float system_dt = (now - wheel_encoder_last_ekf_update_ms) / 1000.0f;
for (uint8_t i = 0; i < g2.wheel_encoder.num_sensors(); i++) {
// calculate angular change (in radians)
float curr_angle_rad = g2.wheel_encoder.get_delta_angle(i);
float delta_angle = curr_angle_rad - wheel_encoder_last_angle_rad[i];
const float curr_angle_rad = g2.wheel_encoder.get_delta_angle(i);
const float delta_angle = curr_angle_rad - wheel_encoder_last_angle_rad[i];
wheel_encoder_last_angle_rad[i] = curr_angle_rad;
// calculate delta time
float delta_time;
uint32_t latest_sensor_update_ms = g2.wheel_encoder.get_last_reading_ms(i);
uint32_t sensor_diff_ms = latest_sensor_update_ms - wheel_encoder_last_update_ms[i];
const uint32_t latest_sensor_update_ms = g2.wheel_encoder.get_last_reading_ms(i);
const uint32_t sensor_diff_ms = latest_sensor_update_ms - wheel_encoder_last_update_ms[i];
// if we have not received any sensor updates, or time difference is too high then use time since last update to the ekf
// check for old or insane sensor update times
@ -155,7 +154,6 @@ void Rover::update_wheel_encoder()
} else {
wheel_encoder_rpm[i] = 0.0f;
}
}
// record system time update for next iteration