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AP_Compass: style cleanup

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Jonathan Challinger 2015-03-18 17:49:39 -07:00 committed by Andrew Tridgell
parent 5ef713f3db
commit 987f55387e
1 changed files with 27 additions and 27 deletions
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54
libraries/AP_Compass/AP_Compass_Calibration.cpp
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@ -29,11 +29,11 @@ Compass::compass_cal_update()
bool bool
Compass::start_calibration(uint8_t i, bool retry, bool autosave, float delay) Compass::start_calibration(uint8_t i, bool retry, bool autosave, float delay)
{ {
if(healthy(i)) { if (healthy(i)) {
if(!is_calibrating() && delay > 0.5f) { if (!is_calibrating() && delay > 0.5f) {
AP_Notify::events.initiated_compass_cal = 1; AP_Notify::events.initiated_compass_cal = 1;
} }
if(i == get_primary()) { if (i == get_primary()) {
_calibrator[i].set_tolerance(5); _calibrator[i].set_tolerance(5);
} else { } else {
_calibrator[i].set_tolerance(10); _calibrator[i].set_tolerance(10);
@ -48,9 +48,9 @@ Compass::start_calibration(uint8_t i, bool retry, bool autosave, float delay)
bool bool
Compass::start_calibration_mask(uint8_t mask, bool retry, bool autosave, float delay) Compass::start_calibration_mask(uint8_t mask, bool retry, bool autosave, float delay)
{ {
for(uint8_t i=0; i<COMPASS_MAX_INSTANCES; i++) { for (uint8_t i=0; i<COMPASS_MAX_INSTANCES; i++) {
if((1<<i) & mask) { if ((1<<i) & mask) {
if(!start_calibration(i,retry,autosave,delay)) { if (!start_calibration(i,retry,autosave,delay)) {
cancel_calibration_mask(mask); cancel_calibration_mask(mask);
return false; return false;
} }
@ -62,9 +62,9 @@ Compass::start_calibration_mask(uint8_t mask, bool retry, bool autosave, float d
bool bool
Compass::start_calibration_all(bool retry, bool autosave, float delay) Compass::start_calibration_all(bool retry, bool autosave, float delay)
{ {
for(uint8_t i=0; i<COMPASS_MAX_INSTANCES; i++) { for (uint8_t i=0; i<COMPASS_MAX_INSTANCES; i++) {
if(healthy(i) && use_for_yaw(i)) { if (healthy(i) && use_for_yaw(i)) {
if(!start_calibration(i,retry,autosave,delay)) { if (!start_calibration(i,retry,autosave,delay)) {
cancel_calibration_all(); cancel_calibration_all();
return false; return false;
} }
@ -103,7 +103,7 @@ Compass::accept_calibration(uint8_t i)
CompassCalibrator& cal = _calibrator[i]; CompassCalibrator& cal = _calibrator[i];
uint8_t cal_status = cal.get_status(); uint8_t cal_status = cal.get_status();
if(cal_status == COMPASS_CAL_SUCCESS) { if (cal_status == COMPASS_CAL_SUCCESS) {
Vector3f ofs, diag, offdiag; Vector3f ofs, diag, offdiag;
cal.get_calibration(ofs, diag, offdiag); cal.get_calibration(ofs, diag, offdiag);
cal.clear(); cal.clear();
@ -112,7 +112,7 @@ Compass::accept_calibration(uint8_t i)
set_and_save_diagonals(i,diag); set_and_save_diagonals(i,diag);
set_and_save_offdiagonals(i,offdiag); set_and_save_offdiagonals(i,offdiag);
if(!is_calibrating()) { if (!is_calibrating()) {
AP_Notify::events.compass_cal_saved = 1; AP_Notify::events.compass_cal_saved = 1;
} }
return true; return true;
@ -125,10 +125,10 @@ bool
Compass::accept_calibration_mask(uint8_t mask) Compass::accept_calibration_mask(uint8_t mask)
{ {
for(uint8_t i=0; i<COMPASS_MAX_INSTANCES; i++) { for(uint8_t i=0; i<COMPASS_MAX_INSTANCES; i++) {
if((1<<i) & mask) { if ((1<<i) & mask) {
CompassCalibrator& cal = _calibrator[i]; CompassCalibrator& cal = _calibrator[i];
uint8_t cal_status = cal.get_status(); uint8_t cal_status = cal.get_status();
if(cal_status != COMPASS_CAL_SUCCESS && cal_status != COMPASS_CAL_NOT_STARTED) { if (cal_status != COMPASS_CAL_SUCCESS && cal_status != COMPASS_CAL_NOT_STARTED) {
// a compass failed or is still in progress // a compass failed or is still in progress
return false; return false;
} }
@ -136,9 +136,9 @@ Compass::accept_calibration_mask(uint8_t mask)
} }
bool success = true; bool success = true;
for(uint8_t i=0; i<COMPASS_MAX_INSTANCES; i++) { for (uint8_t i=0; i<COMPASS_MAX_INSTANCES; i++) {
if((1<<i) & mask) { if ((1<<i) & mask) {
if(!accept_calibration(i)) { if (!accept_calibration(i)) {
success = false; success = false;
} }
} }
@ -158,15 +158,15 @@ Compass::send_mag_cal_progress(mavlink_channel_t chan)
{ {
uint8_t cal_mask = get_cal_mask(); uint8_t cal_mask = get_cal_mask();
for(uint8_t i=0; i<COMPASS_MAX_INSTANCES; i++) { for (uint8_t i=0; i<COMPASS_MAX_INSTANCES; i++) {
CompassCalibrator& cal = _calibrator[i]; CompassCalibrator& cal = _calibrator[i];
uint8_t& compass_id = i; uint8_t& compass_id = i;
uint8_t cal_status = cal.get_status(); uint8_t cal_status = cal.get_status();
if(cal_status == COMPASS_CAL_WAITING_TO_START || if (cal_status == COMPASS_CAL_WAITING_TO_START ||
cal_status == COMPASS_CAL_RUNNING_STEP_ONE || cal_status == COMPASS_CAL_RUNNING_STEP_ONE ||
cal_status == COMPASS_CAL_RUNNING_STEP_TWO) { cal_status == COMPASS_CAL_RUNNING_STEP_TWO) {
uint8_t completion_pct = cal.get_completion_percent(); uint8_t completion_pct = cal.get_completion_percent();
uint8_t completion_mask[10]; uint8_t completion_mask[10];
Vector3f direction(0.0f,0.0f,0.0f); Vector3f direction(0.0f,0.0f,0.0f);
@ -188,14 +188,14 @@ void Compass::send_mag_cal_report(mavlink_channel_t chan)
{ {
uint8_t cal_mask = get_cal_mask(); uint8_t cal_mask = get_cal_mask();
for(uint8_t i=0; i<COMPASS_MAX_INSTANCES; i++) { for (uint8_t i=0; i<COMPASS_MAX_INSTANCES; i++) {
CompassCalibrator& cal = _calibrator[i]; CompassCalibrator& cal = _calibrator[i];
uint8_t& compass_id = i; uint8_t& compass_id = i;
uint8_t cal_status = cal.get_status(); uint8_t cal_status = cal.get_status();
if(cal_status == COMPASS_CAL_SUCCESS || if (cal_status == COMPASS_CAL_SUCCESS ||
cal_status == COMPASS_CAL_FAILED) { cal_status == COMPASS_CAL_FAILED) {
float fitness = cal.get_fitness(); float fitness = cal.get_fitness();
Vector3f ofs, diag, offdiag; Vector3f ofs, diag, offdiag;
cal.get_calibration(ofs, diag, offdiag); cal.get_calibration(ofs, diag, offdiag);
@ -212,7 +212,7 @@ void Compass::send_mag_cal_report(mavlink_channel_t chan)
); );
} }
if(cal_status == COMPASS_CAL_SUCCESS && cal.get_autosave()) { if (cal_status == COMPASS_CAL_SUCCESS && cal.get_autosave()) {
accept_calibration(i); accept_calibration(i);
} }
} }
@ -228,8 +228,8 @@ uint8_t
Compass::get_cal_mask() const Compass::get_cal_mask() const
{ {
uint8_t cal_mask = 0; uint8_t cal_mask = 0;
for(uint8_t i=0; i<COMPASS_MAX_INSTANCES; i++) { for (uint8_t i=0; i<COMPASS_MAX_INSTANCES; i++) {
if(_calibrator[i].get_status() != COMPASS_CAL_NOT_STARTED) { if (_calibrator[i].get_status() != COMPASS_CAL_NOT_STARTED) {
cal_mask |= 1 << i; cal_mask |= 1 << i;
} }
} }