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uncrustify libraries/AP_Limits/AP_Limit_Altitude.cpp

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uncrustify 2012-08-16 23:20:05 -07:00 committed by Pat Hickey
parent 406eb1430c
commit 900ece6ef4
1 changed files with 44 additions and 44 deletions
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88
libraries/AP_Limits/AP_Limit_Altitude.cpp
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@ -10,69 +10,69 @@
#include <AP_Limit_Altitude.h>
const AP_Param::GroupInfo AP_Limit_Altitude::var_info[] PROGMEM = {
// @Param: ALT_ON
// @DisplayName: Enable altitude
// @Description: Setting this to Enabled(1) will enable the altitude. Setting this to Disabled(0) will disable the altitude
// @Values: 0:Disabled,1:Enabled
// @User: Standard
AP_GROUPINFO("ALT_ON", 0, AP_Limit_Altitude, _enabled, 0),
// @Param: ALT_ON
// @DisplayName: Enable altitude
// @Description: Setting this to Enabled(1) will enable the altitude. Setting this to Disabled(0) will disable the altitude
// @Values: 0:Disabled,1:Enabled
// @User: Standard
AP_GROUPINFO("ALT_ON", 0, AP_Limit_Altitude, _enabled, 0),
// @Param: ALT_REQD
// @DisplayName: Require altitude
// @Description: Setting this to Enabled(1) will make being inside the altitude a required check before arming the vehicle.
// @Values: 0:Disabled,1:Enabled
// @User: Standard
AP_GROUPINFO("ALT_REQ", 1, AP_Limit_Altitude, _required, 0),
// @Param: ALT_REQD
// @DisplayName: Require altitude
// @Description: Setting this to Enabled(1) will make being inside the altitude a required check before arming the vehicle.
// @Values: 0:Disabled,1:Enabled
// @User: Standard
AP_GROUPINFO("ALT_REQ", 1, AP_Limit_Altitude, _required, 0),
// @Param: ALT_MIN
// @DisplayName: Minimum Altitude
// @Description: Minimum Altitude. Zero to disable. Sets a "floor" that your vehicle will try to stay above. IF the vehicle is crossing the threshold at speed, it will take a while to recover, so give yourself enough room. Caution: minimum altitude limits can cause unexpected behaviour, such as inability to land, or sudden takeoff. Read the wiki instructions before setting.
// @Units: Meters
// @Range: 0 250000
// @Increment: 1
// @User: Standard
AP_GROUPINFO("ALT_MIN", 2, AP_Limit_Altitude, _min_alt, 0),
// @Param: ALT_MIN
// @DisplayName: Minimum Altitude
// @Description: Minimum Altitude. Zero to disable. Sets a "floor" that your vehicle will try to stay above. IF the vehicle is crossing the threshold at speed, it will take a while to recover, so give yourself enough room. Caution: minimum altitude limits can cause unexpected behaviour, such as inability to land, or sudden takeoff. Read the wiki instructions before setting.
// @Units: Meters
// @Range: 0 250000
// @Increment: 1
// @User: Standard
AP_GROUPINFO("ALT_MIN", 2, AP_Limit_Altitude, _min_alt, 0),
// @Param: ALT_MAX
// @DisplayName: Maximum Altitude
// @Description: Maximum Altitude. Zero to disable. Sets a "ceiling" that your vehicle will try to stay below. IF the vehicle is crossing the threshold at speed, it will take a while to recover.
// @Units: Meters
// @Range: 0 250000
// @Increment: 1
// @User: Standard
AP_GROUPINFO("ALT_MAX", 3, AP_Limit_Altitude, _max_alt, 0),
// @Param: ALT_MAX
// @DisplayName: Maximum Altitude
// @Description: Maximum Altitude. Zero to disable. Sets a "ceiling" that your vehicle will try to stay below. IF the vehicle is crossing the threshold at speed, it will take a while to recover.
// @Units: Meters
// @Range: 0 250000
// @Increment: 1
// @User: Standard
AP_GROUPINFO("ALT_MAX", 3, AP_Limit_Altitude, _max_alt, 0),
AP_GROUPEND
};
AP_Limit_Altitude::AP_Limit_Altitude(struct Location *current_loc) :
AP_Limit_Module(AP_LIMITS_ALTITUDE) // enabled and required
AP_Limit_Module(AP_LIMITS_ALTITUDE) // enabled and required
{
_current_loc = current_loc;
_current_loc = current_loc;
}
bool AP_Limit_Altitude::triggered()
{
_triggered = false; // reset trigger before checking
_triggered = false; // reset trigger before checking
// _max_alt is zero if disabled
// convert _max_alt to centimeters to compare to actual altitude
if (_max_alt > 0 && _current_loc->alt > _max_alt*100 ) {
_triggered = true;
}
// _max_alt is zero if disabled
// convert _max_alt to centimeters to compare to actual altitude
if (_max_alt > 0 && _current_loc->alt > _max_alt*100 ) {
_triggered = true;
}
// _min_alt is zero if disabled
// convert _min_alt to centimeters to compare to actual altitude
if (_min_alt > 0 && _current_loc->alt < _min_alt*100 ) {
_triggered = true;
}
return _triggered;
// _min_alt is zero if disabled
// convert _min_alt to centimeters to compare to actual altitude
if (_min_alt > 0 && _current_loc->alt < _min_alt*100 ) {
_triggered = true;
}
return _triggered;
}
AP_Int32 AP_Limit_Altitude::max_alt() {
return _max_alt;
return _max_alt;
}
AP_Int32 AP_Limit_Altitude::min_alt() {
return _min_alt;
return _min_alt;
}