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AP_GPS: whitespace and typo fixes

This commit is contained in:
Arjun Vinod 2019-01-03 23:40:41 -05:00 committed by Randy Mackay
parent ce9352942f
commit 978cea97cf
3 changed files with 10 additions and 9 deletions
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2
libraries/AP_GPS/AP_GPS.h
View File

@ -29,7 +29,7 @@
than 1 then redundant sensors may be available
*/
#define GPS_MAX_RECEIVERS 2 // maximum number of physical GPS sensors allowed - does not include virtual GPS created by blending receiver data
#define GPS_MAX_INSTANCES (GPS_MAX_RECEIVERS + 1) // maximum number of GPs instances including the 'virtual' GPS created by blending receiver data
#define GPS_MAX_INSTANCES (GPS_MAX_RECEIVERS + 1) // maximum number of GPS instances including the 'virtual' GPS created by blending receiver data
#define GPS_BLENDED_INSTANCE GPS_MAX_RECEIVERS // the virtual blended GPS is always the highest instance (2)
#define GPS_RTK_INJECT_TO_ALL 127
#define GPS_MAX_RATE_MS 200 // maximum value of rate_ms (i.e. slowest update rate) is 5hz or 200ms

2
libraries/AP_GPS/AP_GPS_NMEA.cpp
View File

@ -53,7 +53,7 @@ extern const AP_HAL::HAL& hal;
AP_GPS_NMEA::AP_GPS_NMEA(AP_GPS &_gps, AP_GPS::GPS_State &_state, AP_HAL::UARTDriver *_port) :
AP_GPS_Backend(_gps, _state, _port)
{
// this guarantees that _term is always nul terminated
// this guarantees that _term is always null terminated
memset(_term, 0, sizeof(_term));
}

15
libraries/AP_GPS/AP_GPS_UBLOX.cpp
View File

@ -80,8 +80,8 @@ AP_GPS_UBLOX::_request_next_config(void)
Debug("Unconfigured messages: %u Current message: %u\n", (unsigned)_unconfigured_messages, (unsigned)_next_message);
// check AP_GPS_UBLOX.h for the enum that controls the order.
// This switch statement isn't maintained against the enum in order to reduce code churn
// check AP_GPS_UBLOX.h for the enum that controls the order.
// This switch statement isn't maintained against the enum in order to reduce code churn
switch (_next_message++) {
case STEP_PVT:
if(!_request_message_rate(CLASS_NAV, MSG_PVT)) {
@ -326,7 +326,8 @@ AP_GPS_UBLOX::_request_port(void)
}
_send_message(CLASS_CFG, MSG_CFG_PRT, nullptr, 0);
}
// Ensure there is enough space for the largest possible outgoing message
// Ensure there is enough space for the largest possible outgoing message
// Process bytes available from the stream
//
// The stream is assumed to contain only messages we recognise. If it
@ -412,7 +413,7 @@ AP_GPS_UBLOX::read(void)
case 2:
_step++;
_class = data;
_ck_b = _ck_a = data; // reset the checksum accumulators
_ck_b = _ck_a = data; // reset the checksum accumulators
break;
case 3:
_step++;
@ -422,7 +423,7 @@ AP_GPS_UBLOX::read(void)
case 4:
_step++;
_ck_b += (_ck_a += data); // checksum byte
_payload_length = data; // payload length low byte
_payload_length = data; // payload length low byte
break;
case 5:
_step++;
@ -436,7 +437,7 @@ AP_GPS_UBLOX::read(void)
_step = 0;
goto reset;
}
_payload_counter = 0; // prepare to receive payload
_payload_counter = 0; // prepare to receive payload
break;
// Receive message data
@ -629,7 +630,7 @@ AP_GPS_UBLOX::_parse_gps(void)
case MSG_CFG_RATE:
// The GPS will ACK a update rate that is invalid. in order to detect this
// only accept the rate as configured by reading the settings back and
// validating that they all match the target values
// validating that they all match the target values
break;
case MSG_CFG_SBAS:
_unconfigured_messages &= ~CONFIG_SBAS;