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Merge branch 'master' of https://code.google.com/p/ardupilot-mega

Browse Source
This commit is contained in:
Jason Short 2011-10-28 21:29:18 -07:00
commit be3843ccb9
57 changed files with 3922 additions and 4605 deletions
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2
ArduCopter/system.pde
View File

@ -82,7 +82,7 @@ static void init_ardupilot()
#endif
Serial.printf_P(PSTR("\n\nInit " THISFIRMWARE
"\n\nFree RAM: %lu\n"),
"\n\nFree RAM: %u\n"),
memcheck_available_memory());

2
ArduPlane/Log.pde
View File

@ -650,7 +650,7 @@ static void Log_Read(int start_page, int end_page)
Serial.printf_P(PSTR((AIRFRAME_NAME)
#endif
Serial.printf_P(PSTR("\n" THISFIRMWARE
"\nFree RAM: %lu\n"),
"\nFree RAM: %u\n"),
memcheck_available_memory());
DataFlash.StartRead(start_page);

2
ArduPlane/system.pde
View File

@ -79,7 +79,7 @@ static void init_ardupilot()
Serial1.begin(38400, 128, 16);
Serial.printf_P(PSTR("\n\nInit " THISFIRMWARE
"\n\nFree RAM: %lu\n"),
"\n\nFree RAM: %u\n"),
memcheck_available_memory());
//

12
Tools/ArdupilotMegaPlanner/CommsTCPSerial.cs
View File

@ -75,8 +75,14 @@ namespace System.IO.Ports
string dest = Port;
string host = "127.0.0.1";
ArdupilotMega.Common.InputBox("remote host", "Enter host name/ip (ensure remote end is already started)", ref host);
ArdupilotMega.Common.InputBox("remote Port", "Enter remote port", ref dest);
if (Windows.Forms.DialogResult.Cancel == ArdupilotMega.Common.InputBox("remote host", "Enter host name/ip (ensure remote end is already started)", ref host))
{
return;
}
if (Windows.Forms.DialogResult.Cancel == ArdupilotMega.Common.InputBox("remote Port", "Enter remote port", ref dest))
{
return;
}
Port = dest;
client = new TcpClient(host, int.Parse(Port));
@ -169,7 +175,7 @@ namespace System.IO.Ports
VerifyConnected();
int size = client.Available;
byte[] crap = new byte[size];
Console.WriteLine("UdpSerial DiscardInBuffer {0}",size);
Console.WriteLine("TcpSerial DiscardInBuffer {0}",size);
Read(crap, 0, size);
}

4
Tools/ArdupilotMegaPlanner/CurrentState.cs
View File

@ -193,12 +193,12 @@ namespace ArdupilotMega
{
UpdateCurrentSettings(bs, false, MainV2.comPort);
}
/*
public void UpdateCurrentSettings(System.Windows.Forms.BindingSource bs, bool updatenow)
{
UpdateCurrentSettings(bs, false, MainV2.comPort);
}
*/
public void UpdateCurrentSettings(System.Windows.Forms.BindingSource bs, bool updatenow, MAVLink mavinterface)
{
if (DateTime.Now > lastupdate.AddMilliseconds(19) || updatenow) // 50 hz

137
Tools/ArdupilotMegaPlanner/GCSViews/Configuration.Designer.cs generated
View File

@ -142,6 +142,7 @@
this.label52 = new System.Windows.Forms.Label();
this.TabAC2 = new System.Windows.Forms.TabPage();
this.groupBox5 = new System.Windows.Forms.GroupBox();
this.label14 = new System.Windows.Forms.Label();
this.THR_RATE_IMAX = new System.Windows.Forms.DomainUpDown();
this.THR_RATE_I = new System.Windows.Forms.DomainUpDown();
this.label20 = new System.Windows.Forms.Label();
@ -223,6 +224,7 @@
this.RATE_RLL_P = new System.Windows.Forms.DomainUpDown();
this.label91 = new System.Windows.Forms.Label();
this.TabPlanner = new System.Windows.Forms.TabPage();
this.label26 = new System.Windows.Forms.Label();
this.CMB_videoresolutions = new System.Windows.Forms.ComboBox();
this.label12 = new System.Windows.Forms.Label();
this.CHK_GDIPlus = new System.Windows.Forms.CheckBox();
@ -273,8 +275,20 @@
this.BUT_load = new ArdupilotMega.MyButton();
this.toolTip1 = new System.Windows.Forms.ToolTip(this.components);
this.BUT_compare = new ArdupilotMega.MyButton();
this.label14 = new System.Windows.Forms.Label();
this.label26 = new System.Windows.Forms.Label();
this.groupBox17 = new System.Windows.Forms.GroupBox();
this.ACRO_PIT_IMAX = new System.Windows.Forms.DomainUpDown();
this.label27 = new System.Windows.Forms.Label();
this.ACRO_PIT_I = new System.Windows.Forms.DomainUpDown();
this.label29 = new System.Windows.Forms.Label();
this.ACRO_PIT_P = new System.Windows.Forms.DomainUpDown();
this.label33 = new System.Windows.Forms.Label();
this.groupBox18 = new System.Windows.Forms.GroupBox();
this.ACRO_RLL_IMAX = new System.Windows.Forms.DomainUpDown();
this.label40 = new System.Windows.Forms.Label();
this.ACRO_RLL_I = new System.Windows.Forms.DomainUpDown();
this.label44 = new System.Windows.Forms.Label();
this.ACRO_RLL_P = new System.Windows.Forms.DomainUpDown();
this.label48 = new System.Windows.Forms.Label();
((System.ComponentModel.ISupportInitialize)(this.Params)).BeginInit();
this.ConfigTabs.SuspendLayout();
this.TabAPM2.SuspendLayout();
@ -304,6 +318,8 @@
this.groupBox25.SuspendLayout();
this.TabPlanner.SuspendLayout();
((System.ComponentModel.ISupportInitialize)(this.NUM_tracklength)).BeginInit();
this.groupBox17.SuspendLayout();
this.groupBox18.SuspendLayout();
this.SuspendLayout();
//
// Params
@ -995,7 +1011,9 @@
//
// TabAC2
//
this.TabAC2.Controls.Add(this.groupBox17);
this.TabAC2.Controls.Add(this.groupBox5);
this.TabAC2.Controls.Add(this.groupBox18);
this.TabAC2.Controls.Add(this.CHK_lockrollpitch);
this.TabAC2.Controls.Add(this.groupBox4);
this.TabAC2.Controls.Add(this.groupBox6);
@ -1022,6 +1040,11 @@
this.groupBox5.Name = "groupBox5";
this.groupBox5.TabStop = false;
//
// label14
//
resources.ApplyResources(this.label14, "label14");
this.label14.Name = "label14";
//
// THR_RATE_IMAX
//
resources.ApplyResources(this.THR_RATE_IMAX, "THR_RATE_IMAX");
@ -1050,8 +1073,11 @@
// CHK_lockrollpitch
//
resources.ApplyResources(this.CHK_lockrollpitch, "CHK_lockrollpitch");
this.CHK_lockrollpitch.Checked = true;
this.CHK_lockrollpitch.CheckState = System.Windows.Forms.CheckState.Checked;
this.CHK_lockrollpitch.Name = "CHK_lockrollpitch";
this.CHK_lockrollpitch.UseVisualStyleBackColor = true;
this.CHK_lockrollpitch.CheckedChanged += new System.EventHandler(this.CHK_lockrollpitch_CheckedChanged);
//
// groupBox4
//
@ -1545,6 +1571,11 @@
resources.ApplyResources(this.TabPlanner, "TabPlanner");
this.TabPlanner.Name = "TabPlanner";
//
// label26
//
resources.ApplyResources(this.label26, "label26");
this.label26.Name = "label26";
//
// CMB_videoresolutions
//
this.CMB_videoresolutions.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
@ -1911,15 +1942,89 @@
this.BUT_compare.UseVisualStyleBackColor = true;
this.BUT_compare.Click += new System.EventHandler(this.BUT_compare_Click);
//
// label14
// groupBox17
//
resources.ApplyResources(this.label14, "label14");
this.label14.Name = "label14";
this.groupBox17.Controls.Add(this.ACRO_PIT_IMAX);
this.groupBox17.Controls.Add(this.label27);
this.groupBox17.Controls.Add(this.ACRO_PIT_I);
this.groupBox17.Controls.Add(this.label29);
this.groupBox17.Controls.Add(this.ACRO_PIT_P);
this.groupBox17.Controls.Add(this.label33);
resources.ApplyResources(this.groupBox17, "groupBox17");
this.groupBox17.Name = "groupBox17";
this.groupBox17.TabStop = false;
//
// label26
// ACRO_PIT_IMAX
//
resources.ApplyResources(this.label26, "label26");
this.label26.Name = "label26";
resources.ApplyResources(this.ACRO_PIT_IMAX, "ACRO_PIT_IMAX");
this.ACRO_PIT_IMAX.Name = "ACRO_PIT_IMAX";
//
// label27
//
resources.ApplyResources(this.label27, "label27");
this.label27.Name = "label27";
//
// ACRO_PIT_I
//
resources.ApplyResources(this.ACRO_PIT_I, "ACRO_PIT_I");
this.ACRO_PIT_I.Name = "ACRO_PIT_I";
//
// label29
//
resources.ApplyResources(this.label29, "label29");
this.label29.Name = "label29";
//
// ACRO_PIT_P
//
resources.ApplyResources(this.ACRO_PIT_P, "ACRO_PIT_P");
this.ACRO_PIT_P.Name = "ACRO_PIT_P";
//
// label33
//
resources.ApplyResources(this.label33, "label33");
this.label33.Name = "label33";
//
// groupBox18
//
this.groupBox18.Controls.Add(this.ACRO_RLL_IMAX);
this.groupBox18.Controls.Add(this.label40);
this.groupBox18.Controls.Add(this.ACRO_RLL_I);
this.groupBox18.Controls.Add(this.label44);
this.groupBox18.Controls.Add(this.ACRO_RLL_P);
this.groupBox18.Controls.Add(this.label48);
resources.ApplyResources(this.groupBox18, "groupBox18");
this.groupBox18.Name = "groupBox18";
this.groupBox18.TabStop = false;
//
// ACRO_RLL_IMAX
//
resources.ApplyResources(this.ACRO_RLL_IMAX, "ACRO_RLL_IMAX");
this.ACRO_RLL_IMAX.Name = "ACRO_RLL_IMAX";
//
// label40
//
resources.ApplyResources(this.label40, "label40");
this.label40.Name = "label40";
//
// ACRO_RLL_I
//
resources.ApplyResources(this.ACRO_RLL_I, "ACRO_RLL_I");
this.ACRO_RLL_I.Name = "ACRO_RLL_I";
//
// label44
//
resources.ApplyResources(this.label44, "label44");
this.label44.Name = "label44";
//
// ACRO_RLL_P
//
resources.ApplyResources(this.ACRO_RLL_P, "ACRO_RLL_P");
this.ACRO_RLL_P.Name = "ACRO_RLL_P";
//
// label48
//
resources.ApplyResources(this.label48, "label48");
this.label48.Name = "label48";
//
// Configuration
//
@ -1965,6 +2070,8 @@
this.groupBox25.ResumeLayout(false);
this.TabPlanner.ResumeLayout(false);
((System.ComponentModel.ISupportInitialize)(this.NUM_tracklength)).EndInit();
this.groupBox17.ResumeLayout(false);
this.groupBox18.ResumeLayout(false);
this.ResumeLayout(false);
}
@ -2214,5 +2321,19 @@
private System.Windows.Forms.Label label109;
private System.Windows.Forms.Label label14;
private System.Windows.Forms.Label label26;
private System.Windows.Forms.GroupBox groupBox17;
private System.Windows.Forms.DomainUpDown ACRO_PIT_IMAX;
private System.Windows.Forms.Label label27;
private System.Windows.Forms.DomainUpDown ACRO_PIT_I;
private System.Windows.Forms.Label label29;
private System.Windows.Forms.DomainUpDown ACRO_PIT_P;
private System.Windows.Forms.Label label33;
private System.Windows.Forms.GroupBox groupBox18;
private System.Windows.Forms.DomainUpDown ACRO_RLL_IMAX;
private System.Windows.Forms.Label label40;
private System.Windows.Forms.DomainUpDown ACRO_RLL_I;
private System.Windows.Forms.Label label44;
private System.Windows.Forms.DomainUpDown ACRO_RLL_P;
private System.Windows.Forms.Label label48;
}
}

43
Tools/ArdupilotMegaPlanner/GCSViews/Configuration.cs
View File

@ -61,24 +61,6 @@ namespace ArdupilotMega.GCSViews
{
InitializeComponent();
// fix for dup name
XTRK_ANGLE_CD1.Name = "XTRK_ANGLE_CD";
}
private void Configuration_Load(object sender, EventArgs e)
{
// read tooltips
if (tooltips.Count == 0)
readToolTips();
this.SuspendLayout();
// prefill all fields
param = MainV2.comPort.param;
processToScreen();
this.ResumeLayout();
// enable disable relevbant hardware tabs
if (MainV2.APMFirmware == MainV2.Firmwares.ArduPlane)
{
@ -93,6 +75,20 @@ namespace ArdupilotMega.GCSViews
TabAC2.Enabled = true;
}
// read tooltips
if (tooltips.Count == 0)
readToolTips();
// prefill all fields
param = MainV2.comPort.param;
processToScreen();
// fix for dup name
XTRK_ANGLE_CD1.Name = "XTRK_ANGLE_CD";
}
private void Configuration_Load(object sender, EventArgs e)
{
// setup up camera button states
if (MainV2.cam != null)
{
@ -386,7 +382,7 @@ namespace ArdupilotMega.GCSViews
// enable roll and pitch pairing for ac2
if (CHK_lockrollpitch.Checked)
{
if (name.StartsWith("RATE_") || name.StartsWith("STB_"))
if (name.StartsWith("RATE_") || name.StartsWith("STB_") || name.StartsWith("ACRO_"))
{
if (name.Contains("_RLL_"))
{
@ -534,6 +530,8 @@ namespace ArdupilotMega.GCSViews
continue;
if (name == "WP_TOTAL")
continue;
if (name == "CMD_TOTAL")
continue;
if (row.Cells[0].Value.ToString() == name)
{
if (row.Cells[1].Value.ToString() != value.ToString())
@ -1021,6 +1019,8 @@ namespace ArdupilotMega.GCSViews
continue;
if (name == "WP_TOTAL")
continue;
if (name == "CMD_TOTAL")
continue;
param2[name] = value;
}
@ -1039,5 +1039,10 @@ namespace ArdupilotMega.GCSViews
MessageBox.Show("You need to restart the planner for this to take effect");
MainV2.config["CHK_GDIPlus"] = CHK_GDIPlus.Checked.ToString();
}
private void CHK_lockrollpitch_CheckedChanged(object sender, EventArgs e)
{
}
}
}

2088
Tools/ArdupilotMegaPlanner/GCSViews/Configuration.resx
View File

File diff suppressed because it is too large Load Diff

10
Tools/ArdupilotMegaPlanner/GCSViews/Firmware.cs
View File

@ -488,7 +488,13 @@ namespace ArdupilotMega.GCSViews
return;
}
int apmformat_version = ArduinoDetect.decodeApVar(MainV2.comportname, board);
int apmformat_version = -1; // fail continue
try
{
apmformat_version = ArduinoDetect.decodeApVar(MainV2.comportname, board);
}
catch { }
if (apmformat_version != -1 && apmformat_version != temp.k_format_version)
{
@ -678,7 +684,7 @@ namespace ArdupilotMega.GCSViews
Application.DoEvents();
System.Threading.Thread.Sleep(5000); // 5 seconds - new apvar erases eeprom on new format version, this should buy us some time.
System.Threading.Thread.Sleep(10000); // 10 seconds - new apvar erases eeprom on new format version, this should buy us some time.
}
catch (Exception ex) { lbl_status.Text = "Failed upload"; MessageBox.Show("Check port settings or Port in use? " + ex.ToString()); port.Close(); }

6
Tools/ArdupilotMegaPlanner/GCSViews/FlightData.cs
View File

@ -364,7 +364,7 @@ namespace ArdupilotMega.GCSViews
if (CB_tuning.Checked == false) // draw if in view
// if (CB_tuning.Checked == false) // draw if in view
{
if (MainV2.comPort.logreadmode && MainV2.comPort.logplaybackfile != null)
@ -992,9 +992,9 @@ namespace ArdupilotMega.GCSViews
CMB_setwp.Items.Add("0 (Home)");
if (MainV2.comPort.param["WP_TOTAL"] != null)
if (MainV2.comPort.param["CMD_TOTAL"] != null)
{
int wps = int.Parse(MainV2.comPort.param["WP_TOTAL"].ToString());
int wps = int.Parse(MainV2.comPort.param["CMD_TOTAL"].ToString());
for (int z = 1; z <= wps; z++)
{
CMB_setwp.Items.Add(z.ToString());

2
Tools/ArdupilotMegaPlanner/GCSViews/Simulation.cs
View File

@ -1573,7 +1573,6 @@ namespace ArdupilotMega.GCSViews
xScale.Max = time + xScale.MajorStep;
xScale.Min = xScale.Max - 30.0;
}
// Make sure the Y axis is rescaled to accommodate actual data
try
{
@ -1582,7 +1581,6 @@ namespace ArdupilotMega.GCSViews
catch { }
// Force a redraw
zg1.Invalidate();
}
private void SaveSettings_Click(object sender, EventArgs e)

7
Tools/ArdupilotMegaPlanner/GCSViews/Terminal.cs
View File

@ -172,6 +172,13 @@ namespace ArdupilotMega.GCSViews
comPort.Open();
comPort.WriteLine("");
comPort.WriteLine("");
comPort.WriteLine("");
comPort.WriteLine("");
comPort.WriteLine("");
comPort.WriteLine("");
System.Threading.Thread t11 = new System.Threading.Thread(delegate()
{
threadrun = true;

8
Tools/ArdupilotMegaPlanner/Joystick.cs
View File

@ -504,11 +504,19 @@ namespace ArdupilotMega
int min, max, trim = 0;
if (MainV2.comPort.param.Count > 0)
{
try
{
min = (int)(float)(MainV2.comPort.param["RC" + chan + "_MIN"]);
max = (int)(float)(MainV2.comPort.param["RC" + chan + "_MAX"]);
trim = (int)(float)(MainV2.comPort.param["RC" + chan + "_TRIM"]);
}
catch {
min = 1000;
max = 2000;
trim = 1500;
}
}
else
{
min = 1000;

3
Tools/ArdupilotMegaPlanner/MAVLink.cs
View File

@ -1275,6 +1275,7 @@ namespace ArdupilotMega
if (buffer[5] == MAVLINK_MSG_ID_WAYPOINT_REQUEST && buffer[9] == 0)
{
param["WP_TOTAL"] = (float)wp_total - 1;
param["CMD_TOTAL"] = (float)wp_total - 1;
MainV2.givecomport = false;
return;
}
@ -1647,7 +1648,7 @@ namespace ArdupilotMega
if (bpstime.Second != DateTime.Now.Second && !logreadmode)
{
Console.WriteLine("bps {0} loss {1} left {2}", bps1, synclost, BaseStream.BytesToRead);
Console.WriteLine("bps {0} loss {1} left {2} mem {3}", bps1, synclost, BaseStream.BytesToRead,System.GC.GetTotalMemory(false));
bps2 = bps1; // prev sec
bps1 = 0; // current sec
bpstime = DateTime.Now;

25
Tools/ArdupilotMegaPlanner/MainV2.cs
View File

@ -468,6 +468,7 @@ namespace ArdupilotMega
private void MenuConfiguration_Click(object sender, EventArgs e)
{
MyView.SuspendLayout();
MyView.Controls.Clear();
GCSViews.Terminal.threadrun = false;
@ -486,13 +487,11 @@ namespace ArdupilotMega
UserControl temp = Configuration;
temp.SuspendLayout();
fixtheme(temp);
temp.Anchor = AnchorStyles.Bottom | AnchorStyles.Left | AnchorStyles.Right | AnchorStyles.Top;
//temp.Anchor = AnchorStyles.Bottom | AnchorStyles.Left | AnchorStyles.Right | AnchorStyles.Top;
temp.Location = new Point(0, MainMenu.Height);
temp.Location = new Point(0, 0);
temp.Dock = DockStyle.Fill;
@ -500,9 +499,11 @@ namespace ArdupilotMega
temp.BackColor = Color.FromArgb(0x26, 0x27, 0x28);
temp.ResumeLayout();
MyView.Controls.Add(temp);
temp.ResumeLayout();
MyView.ResumeLayout();
}
private void MenuSimulation_Click(object sender, EventArgs e)
@ -562,7 +563,19 @@ namespace ArdupilotMega
this.MenuConnect.BackgroundImage = global::ArdupilotMega.Properties.Resources.disconnect;
UserControl temp = new GCSViews.Terminal();
// dispose of old else memory leak
if (Terminal != null)
{
try
{
Terminal.Dispose();
}
catch { }
}
Terminal = new GCSViews.Terminal();
UserControl temp = Terminal;
fixtheme(temp);

3
Tools/ArdupilotMegaPlanner/MavlinkLog.cs
View File

@ -332,7 +332,7 @@ namespace ArdupilotMega
cs.datetime = mine.lastlogread;
cs.UpdateCurrentSettings(null, true);
cs.UpdateCurrentSettings(null, true, mine);
try
{
@ -360,6 +360,7 @@ namespace ArdupilotMega
writeKML(logfile + ".kml");
progressBar1.Value = 100;
}
}

2
Tools/ArdupilotMegaPlanner/Properties/AssemblyInfo.cs
View File

@ -34,5 +34,5 @@ using System.Resources;
// by using the '*' as shown below:
// [assembly: AssemblyVersion("1.0.*")]
[assembly: AssemblyVersion("1.0.0.0")]
[assembly: AssemblyFileVersion("1.0.86")]
[assembly: AssemblyFileVersion("1.0.87")]
[assembly: NeutralResourcesLanguageAttribute("")]

4
Tools/ArdupilotMegaPlanner/Setup/Setup.cs
View File

@ -135,7 +135,7 @@ namespace ArdupilotMega.Setup
System.Threading.Thread.Sleep(5);
MainV2.cs.UpdateCurrentSettings(currentStateBindingSource, true);
MainV2.cs.UpdateCurrentSettings(currentStateBindingSource, true, MainV2.comPort);
if (MainV2.cs.ch1in > 800 && MainV2.cs.ch1in < 2200)
{
@ -192,7 +192,7 @@ namespace ArdupilotMega.Setup
MessageBox.Show("Ensure all your sticks are centered, and click ok to continue");
MainV2.cs.UpdateCurrentSettings(currentStateBindingSource, true);
MainV2.cs.UpdateCurrentSettings(currentStateBindingSource, true, MainV2.comPort);
rctrim[0] = MainV2.cs.ch1in;
rctrim[1] = MainV2.cs.ch2in;

2
Tools/ArdupilotMegaPlanner/bin/Release/ArdupilotMegaPlanner.application
View File

@ -11,7 +11,7 @@
<dsig:Transform Algorithm="urn:schemas-microsoft-com:HashTransforms.Identity" />
</dsig:Transforms>
<dsig:DigestMethod Algorithm="http://www.w3.org/2000/09/xmldsig#sha1" />
<dsig:DigestValue>FgyYFBDKA+EmX+ZazsEdbI/ME7o=</dsig:DigestValue>
<dsig:DigestValue>S+dMQOC9TeJyQiYvhw37LpJxZU0=</dsig:DigestValue>
</hash>
</dependentAssembly>
</dependency>

2088
Tools/ArdupilotMegaPlanner/bin/Release/GCSViews/Configuration.resx
View File

File diff suppressed because it is too large Load Diff

4
Tools/scripts/format.sh
View File

@ -2,10 +2,12 @@
function format {
DIR=$1
find $DIR -regex ".*\.\(h\|cpp\|pde\)" -exec astyle {} \;
find $DIR -regex ".*\.\(h\|cpp\|pde\)" -exec rm {}.orig \;
find $DIR -regex ".*\.\(h\|cpp\|pde\)" -exec rm -f {}.orig \;
}
format apo
format ArduRover
format ArduBoat
format libraries/APO
format libraries/AP_Common
format libraries/AP_GPS

12
libraries/AP_Common/AP_Var.h
View File

@ -302,14 +302,18 @@ public:
///
/// @return The parent group, or NULL if the variable is not grouped.
///
AP_Var_group *group(void) { return _group; }
AP_Var_group *group(void) {
return _group;
}
/// Returns the first variable in the global list.
///
/// @return The first variable in the global list, or NULL if
/// there are none.
///
static AP_Var *first(void) { return _variables; }
static AP_Var *first(void) {
return _variables;
}
/// Returns the next variable in the global list.
///
@ -367,7 +371,9 @@ public:
///
/// @return The sum of sizeof(*this) for all constructed AP_Var subclass instances.
///
static uint16_t get_memory_use() { return _bytes_in_use; }
static uint16_t get_memory_use() {
return _bytes_in_use;
}
protected:
// Memory statistics

12
libraries/AP_DCM/AP_DCM_HIL.cpp
View File

@ -42,12 +42,12 @@ AP_DCM_HIL::setHil(float _roll, float _pitch, float _yaw,
float sPitch = sin(pitch), cPitch = cos(pitch);
float sYaw = sin(yaw), cYaw = cos(yaw);
_dcm_matrix.a.x = cPitch*cYaw;
_dcm_matrix.a.y = cPitch*sYaw;
_dcm_matrix.a.z = -sPitch;
_dcm_matrix.b.x = -cRoll*sYaw+sRoll*sPitch*cYaw;
_dcm_matrix.a.y = -cRoll*sYaw+sRoll*sPitch*cYaw;
_dcm_matrix.a.z = sRoll*sYaw+cRoll*sPitch*cYaw;
_dcm_matrix.b.x = cPitch*sYaw;
_dcm_matrix.b.y = cRoll*cYaw+sRoll*sPitch*sYaw;
_dcm_matrix.b.z = sRoll*cPitch;
_dcm_matrix.c.x = sRoll*sYaw+cRoll*sPitch*cYaw;
_dcm_matrix.c.y = -sRoll*cYaw+cRoll*sPitch*sYaw;
_dcm_matrix.b.z = -sRoll*cYaw+cRoll*sPitch*sYaw;
_dcm_matrix.c.x = -sPitch;
_dcm_matrix.c.y = sRoll*cPitch;
_dcm_matrix.c.z = cRoll*cPitch;
}

4
libraries/AP_GPS/AP_GPS_406.cpp
View File

@ -41,8 +41,8 @@ AP_GPS_406::_configure_gps(void)
const uint8_t gps_checksum[] = {0xA8, 0xAA, 0xAD, 0xAF, 0xC1};
const uint8_t gps_ender[] = {0xB0, 0xB3};
for(int z = 0; z < 2; z++){
for(int x = 0; x < 5; x++){
for(int z = 0; z < 2; z++) {
for(int x = 0; x < 5; x++) {
_port->write(gps_header, sizeof(gps_header)); // Prints the msg header, is the same header for all msg..
_port->write(gps_payload[x]); // Prints the payload, is not the same for every msg
for(int y = 0; y < 6; y++) // Prints 6 zeros

8
libraries/AP_GPS/AP_GPS_IMU.cpp
View File

@ -56,12 +56,12 @@ AP_GPS_IMU::read(void)
numc = _port->available();
if (numc > 0){
for (int i=0;i<numc;i++){ // Process bytes received
if (numc > 0) {
for (int i=0; i<numc; i++) { // Process bytes received
data = _port->read();
switch(step){ //Normally we start from zero. This is a state machine
switch(step) { //Normally we start from zero. This is a state machine
case 0:
if(data == 0x44) // IMU sync char 1
step++; //OH first data packet is correct, so jump to the next step
@ -92,7 +92,7 @@ AP_GPS_IMU::read(void)
payload_length = data;
checksum(payload_length);
step++;
if (payload_length > 28){
if (payload_length > 28) {
step = 0; //Bad data, so restart to step zero and try again.
payload_counter = 0;
ck_a = 0;

4
libraries/AP_GPS/AP_GPS_IMU.h
View File

@ -7,7 +7,7 @@
#define MAXPAYLOAD 32
class AP_GPS_IMU : public GPS {
public:
public:
// Methods
AP_GPS_IMU(Stream *s);
@ -25,7 +25,7 @@ class AP_GPS_IMU : public GPS {
virtual void setHIL(long time, float latitude, float longitude, float altitude,
float ground_speed, float ground_course, float speed_3d, uint8_t num_sats);
private:
private:
// Packet checksums
uint8_t ck_a;
uint8_t ck_b;

4
libraries/AP_GPS/AP_GPS_MTK.cpp
View File

@ -56,13 +56,13 @@ AP_GPS_MTK::read(void)
bool parsed = false;
numc = _port->available();
for (int i = 0; i < numc; i++){ // Process bytes received
for (int i = 0; i < numc; i++) { // Process bytes received
// read the next byte
data = _port->read();
restart:
switch(_step){
switch(_step) {
// Message preamble, class, ID detection
//

2
libraries/AP_GPS/AP_GPS_MTK16.cpp
View File

@ -64,7 +64,7 @@ AP_GPS_MTK16::read(void)
data = _port->read();
restart:
switch(_step){
switch(_step) {
// Message preamble, class, ID detection
//

4
libraries/AP_GPS/AP_GPS_None.h
View File

@ -10,6 +10,8 @@ class AP_GPS_None : public GPS
public:
AP_GPS_None(Stream *s) : GPS(s) {}
virtual void init(void) {};
virtual bool read(void) { return false; };
virtual bool read(void) {
return false;
};
};
#endif

2
libraries/AP_GPS/AP_GPS_SIRF.cpp
View File

@ -65,7 +65,7 @@ AP_GPS_SIRF::read(void)
// read the next byte
data = _port->read();
switch(_step){
switch(_step) {
// Message preamble detection
//

4
libraries/AP_GPS/AP_GPS_UBLOX.cpp
View File

@ -49,12 +49,12 @@ AP_GPS_UBLOX::read(void)
bool parsed = false;
numc = _port->available();
for (int i = 0; i < numc; i++){ // Process bytes received
for (int i = 0; i < numc; i++) { // Process bytes received
// read the next byte
data = _port->read();
switch(_step){
switch(_step) {
// Message preamble detection
//

8
libraries/AP_GPS/GPS.h
View File

@ -43,7 +43,9 @@ public:
///
/// @returns Current GPS status
///
GPS_Status status(void) { return _status; }
GPS_Status status(void) {
return _status;
}
/// GPS time epoch codes
///
@ -59,7 +61,9 @@ public:
///
/// @returns Current GPS time epoch code
///
GPS_Time_Epoch epoch(void) { return _epoch; }
GPS_Time_Epoch epoch(void) {
return _epoch;
}
/// Startup initialisation.
///

2
libraries/AP_GPS/examples/GPS_406_test/GPS_406_test.pde
View File

@ -34,7 +34,7 @@ void loop()
{
delay(20);
gps.update();
if (gps.new_data){
if (gps.new_data) {
Serial.print("gps:");
Serial.print(" Lat:");
Serial.print((float)gps.latitude / T7, DEC);

2
libraries/AP_GPS/examples/GPS_AUTO_test/GPS_AUTO_test.pde
View File

@ -29,7 +29,7 @@ void setup()
void loop()
{
gps->update();
if (gps->new_data){
if (gps->new_data) {
if (gps->fix) {
Serial.printf("\nLat: %.7f Lon: %.7f Alt: %.2fm GSP: %.2fm/s CoG: %d SAT: %d TIM: %lu",
(float)gps->latitude / T7,

2
libraries/AP_GPS/examples/GPS_MTK_test/GPS_MTK_test.pde
View File

@ -32,7 +32,7 @@ void loop()
{
delay(20);
gps.update();
if (gps.new_data){
if (gps.new_data) {
Serial.print("gps:");
Serial.print(" Lat:");
Serial.print((float)gps.latitude / T7, DEC);

5
libraries/AP_GPS/examples/GPS_NMEA_test/GPS_NMEA_test.pde
View File

@ -32,7 +32,8 @@ const uint8_t sirf_to_nmea[] = { 0xa0, 0xa2, // preamble
0x00, 0x00, // pad
0x96, 0x00, // 38400
0x01, 0x25, // checksum TBD
0xb0, 0xb3 }; // postamble
0xb0, 0xb3
}; // postamble
void setup()
{
@ -52,7 +53,7 @@ void setup()
void loop()
{
gps->update();
if (gps->new_data){
if (gps->new_data) {
if (gps->fix) {
Serial.printf("\nLat: %.7f Lon: %.7f Alt: %.2fm GSP: %.2fm/s CoG: %d SAT: %d TIM: %lu",
(float)gps->latitude / T7,

2
libraries/AP_GPS/examples/GPS_UBLOX_test/GPS_UBLOX_test.pde
View File

@ -32,7 +32,7 @@ void loop()
{
delay(20);
gps.update();
if (gps.new_data){
if (gps.new_data) {
Serial.print("gps:");
Serial.print(" Lat:");
Serial.print((float)gps.latitude / T7, DEC);