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Rover: APMrover2.cpp correct whitespace, remove tabs

This commit is contained in:
Pierre Kancir 2016-12-20 14:26:57 +01:00 committed by Randy Mackay
parent ad518f0cc7
commit aea1c81437
1 changed files with 28 additions and 20 deletions
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48
APMrover2/APMrover2.cpp
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@ -71,12 +71,12 @@ const AP_Scheduler::Task Rover::scheduler_tasks[] = {
SCHED_TASK(compass_accumulate, 50, 900),
SCHED_TASK(update_notify, 50, 300),
SCHED_TASK(one_second_loop, 1, 3000),
SCHED_TASK(compass_cal_update, 50, 100),
SCHED_TASK(compass_cal_update, 50, 100),
SCHED_TASK(accel_cal_update, 10, 100),
SCHED_TASK(dataflash_periodic, 50, 300),
SCHED_TASK(button_update, 5, 100),
SCHED_TASK(stats_update, 1, 100),
SCHED_TASK(crash_check, 10, 1000),
SCHED_TASK(button_update, 5, 100),
SCHED_TASK(stats_update, 1, 100),
SCHED_TASK(crash_check, 10, 1000),
};
/*
@ -91,7 +91,7 @@ void Rover::stats_update(void)
/*
setup is called when the sketch starts
*/
void Rover::setup()
void Rover::setup()
{
cliSerial = hal.console;
@ -101,7 +101,7 @@ void Rover::setup()
notify.init(false);
AP_Notify::flags.failsafe_battery = false;
rssi.init();
init_ardupilot();
@ -124,8 +124,9 @@ void Rover::loop()
G_Dt = delta_us_fast_loop * 1.0e-6f;
fast_loopTimer_us = timer;
if (delta_us_fast_loop > G_Dt_max)
if (delta_us_fast_loop > G_Dt_max) {
G_Dt_max = delta_us_fast_loop;
}
mainLoop_count++;
@ -175,8 +176,9 @@ void Rover::ahrs_update()
ground_speed = norm(velocity.x, velocity.y);
}
if (should_log(MASK_LOG_ATTITUDE_FAST))
if (should_log(MASK_LOG_ATTITUDE_FAST)) {
Log_Write_Attitude();
}
if (should_log(MASK_LOG_IMU)) {
DataFlash.Log_Write_IMU(ins);
@ -205,7 +207,7 @@ void Rover::update_trigger(void)
if (should_log(MASK_LOG_CAMERA)) {
DataFlash.Log_Write_Camera(ahrs, gps, current_loc);
}
}
}
#endif
}
@ -259,14 +261,17 @@ void Rover::update_compass(void)
*/
void Rover::update_logging1(void)
{
if (should_log(MASK_LOG_ATTITUDE_MED) && !should_log(MASK_LOG_ATTITUDE_FAST))
if (should_log(MASK_LOG_ATTITUDE_MED) && !should_log(MASK_LOG_ATTITUDE_FAST)) {
Log_Write_Attitude();
}
if (should_log(MASK_LOG_CTUN))
if (should_log(MASK_LOG_CTUN)) {
Log_Write_Control_Tuning();
}
if (should_log(MASK_LOG_NTUN))
if (should_log(MASK_LOG_NTUN)) {
Log_Write_Nav_Tuning();
}
}
/*
@ -280,8 +285,9 @@ void Rover::update_logging2(void)
}
}
if (should_log(MASK_LOG_RC))
if (should_log(MASK_LOG_RC)) {
Log_Write_RC();
}
if (should_log(MASK_LOG_IMU)) {
DataFlash.Log_Write_Vibration(ins);
@ -302,8 +308,9 @@ void Rover::update_aux(void)
*/
void Rover::one_second_loop(void)
{
if (should_log(MASK_LOG_CURRENT))
if (should_log(MASK_LOG_CURRENT)) {
Log_Write_Current();
}
// send a heartbeat
gcs_send_message(MSG_HEARTBEAT);
@ -332,8 +339,9 @@ void Rover::one_second_loop(void)
if (scheduler.debug() != 0) {
hal.console->printf("G_Dt_max=%lu\n", (unsigned long)G_Dt_max);
}
if (should_log(MASK_LOG_PM))
if (should_log(MASK_LOG_PM)) {
Log_Write_Performance();
}
G_Dt_max = 0;
resetPerfData();
}
@ -347,7 +355,7 @@ void Rover::one_second_loop(void)
}
ins.set_raw_logging(should_log(MASK_LOG_IMU_RAW));
// update error mask of sensors and subsystems. The mask uses the
// MAV_SYS_STATUS_* values from mavlink. If a bit is set then it
// indicates that the sensor or subsystem is present but not
@ -365,7 +373,7 @@ void Rover::update_GPS_50Hz(void)
static uint32_t last_gps_reading[GPS_MAX_INSTANCES];
gps.update();
for (uint8_t i=0; i<gps.num_sensors(); i++) {
for (uint8_t i=0; i < gps.num_sensors(); i++) {
if (gps.last_message_time_ms(i) != last_gps_reading[i]) {
last_gps_reading[i] = gps.last_message_time_ms(i);
if (should_log(MASK_LOG_GPS)) {
@ -383,7 +391,7 @@ void Rover::update_GPS_10Hz(void)
if (gps.last_message_time_ms() != last_gps_msg_ms && gps.status() >= AP_GPS::GPS_OK_FIX_3D) {
last_gps_msg_ms = gps.last_message_time_ms();
if (ground_start_count > 1){
if (ground_start_count > 1) {
ground_start_count--;
} else if (ground_start_count == 1) {
@ -397,9 +405,9 @@ void Rover::update_GPS_10Hz(void)
// set system clock for log timestamps
uint64_t gps_timestamp = gps.time_epoch_usec();
hal.util->set_system_clock(gps_timestamp);
// update signing timestamp
GCS_MAVLINK::update_signing_timestamp(gps_timestamp);