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https://github.com/ArduPilot/ardupilot
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uncrustify ArduCopter/system.pde
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uncrustify
Pat Hickey
parent
841b4ce9c8
commit
969166c4e3
@ -1,9 +1,9 @@
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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*****************************************************************************
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The init_ardupilot function processes everything we need for an in - air restart
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We will determine later if we are actually on the ground and process a
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ground start in that case.
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* The init_ardupilot function processes everything we need for an in - air restart
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* We will determine later if we are actually on the ground and process a
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* ground start in that case.
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*
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*****************************************************************************/
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#if CLI_ENABLED == ENABLED
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@ -82,11 +82,11 @@ static void init_ardupilot()
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// GPS serial port.
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//
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#if GPS_PROTOCOL != GPS_PROTOCOL_IMU
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#if GPS_PROTOCOL != GPS_PROTOCOL_IMU
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// standard gps running. Note that we need a 256 byte buffer for some
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// GPS types (eg. UBLOX)
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Serial1.begin(38400, 256, 16);
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#endif
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#endif
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Serial.printf_P(PSTR("\n\nInit " THISFIRMWARE
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"\n\nFree RAM: %u\n"),
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@ -143,7 +143,7 @@ static void init_ardupilot()
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pinMode(COPTER_LED_7, OUTPUT); //Motor or GPS LED
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pinMode(COPTER_LED_8, OUTPUT); //Motor or GPS LED
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if ( !bitRead(g.copter_leds_mode, 3) ){
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if ( !bitRead(g.copter_leds_mode, 3) ) {
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piezo_beep();
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}
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@ -181,22 +181,22 @@ static void init_ardupilot()
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gcs_send_text_P(SEVERITY_LOW, PSTR("ERASING LOGS"));
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do_erase_logs();
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}
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if (g.log_bitmask != 0){
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if (g.log_bitmask != 0) {
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DataFlash.start_new_log();
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}
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#endif
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#ifdef RADIO_OVERRIDE_DEFAULTS
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#ifdef RADIO_OVERRIDE_DEFAULTS
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{
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int16_t rc_override[8] = RADIO_OVERRIDE_DEFAULTS;
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APM_RC.setHIL(rc_override);
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}
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#endif
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#endif
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#if FRAME_CONFIG == HELI_FRAME
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#if FRAME_CONFIG == HELI_FRAME
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motors.servo_manual = false;
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motors.init_swash(); // heli initialisation
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#endif
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#endif
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RC_Channel::set_apm_rc(&APM_RC);
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init_rc_in(); // sets up rc channels from radio
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@ -208,10 +208,10 @@ static void init_ardupilot()
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AP_AnalogSource_Arduino::init_timer(&timer_scheduler);
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#if HIL_MODE != HIL_MODE_ATTITUDE
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#if CONFIG_ADC == ENABLED
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#if CONFIG_ADC == ENABLED
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// begin filtering the ADC Gyros
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adc.Init(&timer_scheduler); // APM ADC library initialization
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#endif // CONFIG_ADC
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#endif // CONFIG_ADC
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barometer.init(&timer_scheduler);
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@ -255,11 +255,11 @@ static void init_ardupilot()
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GPS_enabled = false;
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#if HIL_MODE == HIL_MODE_DISABLED
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#if HIL_MODE == HIL_MODE_DISABLED
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// Read in the GPS
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for (byte counter = 0; ; counter++) {
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for (byte counter = 0;; counter++) {
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g_gps->update();
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if (g_gps->status() != 0){
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if (g_gps->status() != 0) {
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GPS_enabled = true;
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break;
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}
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@ -269,9 +269,9 @@ static void init_ardupilot()
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break;
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}
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}
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#else
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#else
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GPS_enabled = true;
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#endif
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#endif
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// lengthen the idle timeout for gps Auto_detect
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// ---------------------------------------------
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@ -281,16 +281,16 @@ static void init_ardupilot()
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// --------------------
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report_gps();
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#if HIL_MODE != HIL_MODE_ATTITUDE
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#if HIL_MODE != HIL_MODE_ATTITUDE
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// read Baro pressure at ground
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//-----------------------------
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init_barometer();
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#endif
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#endif
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// initialise sonar
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#if CONFIG_SONAR == ENABLED
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#if CONFIG_SONAR == ENABLED
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init_sonar();
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#endif
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#endif
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// initialize commands
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// -------------------
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@ -302,9 +302,9 @@ static void init_ardupilot()
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// init the Z damopener
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// --------------------
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#if ACCEL_ALT_HOLD != 0
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#if ACCEL_ALT_HOLD != 0
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init_z_damper();
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#endif
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#endif
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startup_ground();
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@ -378,14 +378,14 @@ static void startup_ground(void)
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{
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gcs_send_text_P(SEVERITY_LOW,PSTR("GROUND START"));
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#if HIL_MODE != HIL_MODE_ATTITUDE
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#if HIL_MODE != HIL_MODE_ATTITUDE
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// Warm up and read Gyro offsets
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// -----------------------------
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imu.init(IMU::COLD_START, mavlink_delay, flash_leds, &timer_scheduler);
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#if CLI_ENABLED == ENABLED
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report_imu();
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#endif
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#endif
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#endif
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// initialise ahrs (may push imu calibration into the mpu6000 if using that device).
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ahrs.init();
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@ -403,36 +403,36 @@ static void startup_ground(void)
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}
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/*
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#define YAW_HOLD 0
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#define YAW_ACRO 1
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#define YAW_AUTO 2
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#define YAW_LOOK_AT_HOME 3
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#define ROLL_PITCH_STABLE 0
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#define ROLL_PITCH_ACRO 1
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#define ROLL_PITCH_AUTO 2
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#define THROTTLE_MANUAL 0
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#define THROTTLE_HOLD 1
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#define THROTTLE_AUTO 2
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*/
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* #define YAW_HOLD 0
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* #define YAW_ACRO 1
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* #define YAW_AUTO 2
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* #define YAW_LOOK_AT_HOME 3
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*
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* #define ROLL_PITCH_STABLE 0
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* #define ROLL_PITCH_ACRO 1
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* #define ROLL_PITCH_AUTO 2
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*
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* #define THROTTLE_MANUAL 0
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* #define THROTTLE_HOLD 1
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* #define THROTTLE_AUTO 2
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*
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*/
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static void set_mode(byte mode)
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{
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// if we don't have GPS lock
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if(home_is_set == false){
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if(home_is_set == false) {
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// THOR
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// We don't care about Home if we don't have lock yet in Toy mode
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if(mode == TOY_A || mode == TOY_M || mode == OF_LOITER){
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if(mode == TOY_A || mode == TOY_M || mode == OF_LOITER) {
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// nothing
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}else if (mode > ALT_HOLD){
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}else if (mode > ALT_HOLD) {
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mode = STABILIZE;
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}
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}
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// nothing but OF_LOITER for OptFlow only
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if (g.optflow_enabled && GPS_enabled == false){
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if (g.optflow_enabled && GPS_enabled == false) {
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if (mode > ALT_HOLD && mode != OF_LOITER)
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mode = STABILIZE;
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}
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@ -579,7 +579,7 @@ static void set_mode(byte mode)
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break;
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}
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if(failsafe){
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if(failsafe) {
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// this is to allow us to fly home without interactive throttle control
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throttle_mode = THROTTLE_AUTO;
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// does not wait for us to be in high throttle, since the
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@ -587,7 +587,7 @@ static void set_mode(byte mode)
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motors.auto_armed(true);
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}
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if(roll_pitch_mode <= ROLL_PITCH_ACRO){
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if(roll_pitch_mode <= ROLL_PITCH_ACRO) {
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// We are under manual attitude control
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// remove the navigation from roll and pitch command
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reset_nav_params();
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@ -604,13 +604,13 @@ static void set_failsafe(boolean mode)
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{
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// only act on changes
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// -------------------
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if(failsafe != mode){
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if(failsafe != mode) {
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// store the value so we don't trip the gate twice
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// -----------------------------------------------
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failsafe = mode;
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if (failsafe == false){
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if (failsafe == false) {
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// We've regained radio contact
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// ----------------------------
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failsafe_off_event();
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@ -631,7 +631,7 @@ init_simple_bearing()
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static void update_throttle_cruise(int16_t tmp)
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{
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if(tmp != 0){
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if(tmp != 0) {
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g.throttle_cruise += tmp;
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reset_throttle_I();
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}
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@ -650,7 +650,7 @@ check_startup_for_CLI()
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#endif // CLI_ENABLED
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/*
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map from a 8 bit EEPROM baud rate to a real baud rate
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* map from a 8 bit EEPROM baud rate to a real baud rate
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*/
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static uint32_t map_baudrate(int8_t rate, uint32_t default_baud)
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{
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@ -688,13 +688,13 @@ static void check_usb_mux(void)
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#endif
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/*
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called by gyro/accel init to flash LEDs so user
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has some mesmerising lights to watch while waiting
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* called by gyro/accel init to flash LEDs so user
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* has some mesmerising lights to watch while waiting
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*/
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void flash_leds(bool on)
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{
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digitalWrite(A_LED_PIN, on?LED_OFF:LED_ON);
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digitalWrite(C_LED_PIN, on?LED_ON:LED_OFF);
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digitalWrite(A_LED_PIN, on ? LED_OFF : LED_ON);
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digitalWrite(C_LED_PIN, on ? LED_ON : LED_OFF);
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}
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#ifndef DESKTOP_BUILD
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