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APMRover2: correct some style

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This commit is contained in:
Pierre Kancir 2017-01-31 10:46:32 +01:00 committed by Grant Morphett
parent b634fe548d
commit c41e695c98
14 changed files with 50 additions and 52 deletions
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27
APMrover2/APMrover2.cpp
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@ -102,7 +102,7 @@ void Rover::setup()
AP_Param::setup_sketch_defaults();
in_auto_reverse = false;
rssi.init();
init_ardupilot();
@ -436,7 +436,7 @@ void Rover::update_GPS_10Hz(void)
void Rover::update_current_mode(void)
{
switch (control_mode){
switch (control_mode) {
case AUTO:
case RTL:
if (!in_auto_reverse) {
@ -451,7 +451,7 @@ void Rover::update_current_mode(void)
if (!in_auto_reverse) {
set_reverse(false);
}
switch (guided_mode){
switch (guided_mode) {
case Guided_Angle:
nav_set_yaw_speed();
break;
@ -462,8 +462,8 @@ void Rover::update_current_mode(void)
if (SRV_Channels::get_output_scaled(SRV_Channel::k_throttle) != g.throttle_min.get()) {
gcs_send_mission_item_reached_message(0);
}
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle,g.throttle_min.get());
SRV_Channels::set_output_scaled(SRV_Channel::k_steering,0);
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, g.throttle_min.get());
SRV_Channels::set_output_scaled(SRV_Channel::k_steering, 0);
lateral_acceleration = 0;
} else {
calc_lateral_acceleration();
@ -518,9 +518,8 @@ void Rover::update_current_mode(void)
we set the exact value in set_servos(), but it helps for
logging
*/
in_auto_reverse = false;
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle,channel_throttle->get_control_in());
SRV_Channels::set_output_scaled(SRV_Channel::k_steering,channel_steer->get_control_in());
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, channel_throttle->get_control_in());
SRV_Channels::set_output_scaled(SRV_Channel::k_steering, channel_steer->get_control_in());
// mark us as in_reverse when using a negative throttle to
// stop AHRS getting off
@ -529,8 +528,8 @@ void Rover::update_current_mode(void)
case HOLD:
// hold position - stop motors and center steering
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle,0);
SRV_Channels::set_output_scaled(SRV_Channel::k_steering,0);
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, 0);
SRV_Channels::set_output_scaled(SRV_Channel::k_steering, 0);
if (!in_auto_reverse) {
set_reverse(false);
}
@ -560,13 +559,13 @@ void Rover::update_navigation()
calc_lateral_acceleration();
calc_nav_steer();
if (verify_RTL()) {
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle,g.throttle_min.get());
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, g.throttle_min.get());
set_mode(HOLD);
}
break;
case GUIDED:
switch (guided_mode){
switch (guided_mode) {
case Guided_Angle:
nav_set_yaw_speed();
break;
@ -577,8 +576,8 @@ void Rover::update_navigation()
calc_nav_steer();
if (rtl_complete || verify_RTL()) {
// we have reached destination so stop where we are
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle,g.throttle_min.get());
SRV_Channels::set_output_scaled(SRV_Channel::k_steering,0);
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, g.throttle_min.get());
SRV_Channels::set_output_scaled(SRV_Channel::k_steering, 0);
lateral_acceleration = 0;
}
break;

7
APMrover2/GCS_Mavlink.cpp
View File

@ -180,6 +180,7 @@ void Rover::send_vfr_hud(mavlink_channel_t chan)
ahrs.groundspeed(),
(ahrs.yaw_sensor / 100) % 360,
static_cast<uint16_t>(100 * fabsf(SRV_Channels::get_output_norm(SRV_Channel::k_throttle))), // WRONG float to uint16
current_loc.alt / 100.0f,
0);
}
@ -195,7 +196,7 @@ void Rover::send_hwstatus(mavlink_channel_t chan)
{
mavlink_msg_hwstatus_send(
chan,
hal.analogin->board_voltage()*1000,
hal.analogin->board_voltage() * 1000,
0);
}
@ -978,7 +979,7 @@ void GCS_MAVLINK_Rover::handleMessage(mavlink_message_t* msg)
break;
case MAV_CMD_DO_REPEAT_SERVO:
if (rover.ServoRelayEvents.do_repeat_servo(packet.param1, packet.param2, packet.param3, packet.param4*1000)) {
if (rover.ServoRelayEvents.do_repeat_servo(packet.param1, packet.param2, packet.param3, packet.param4 * 1000)) {
result = MAV_RESULT_ACCEPTED;
}
break;
@ -990,7 +991,7 @@ void GCS_MAVLINK_Rover::handleMessage(mavlink_message_t* msg)
break;
case MAV_CMD_DO_REPEAT_RELAY:
if (rover.ServoRelayEvents.do_repeat_relay(packet.param1, packet.param2, packet.param3*1000)) {
if (rover.ServoRelayEvents.do_repeat_relay(packet.param1, packet.param2, packet.param3 * 1000)) {
result = MAV_RESULT_ACCEPTED;
}
break;

2
APMrover2/GCS_Mavlink.h
View File

@ -7,7 +7,6 @@
class GCS_MAVLINK_Rover : public GCS_MAVLINK
{
public:
void data_stream_send(void) override;
@ -23,5 +22,4 @@ private:
bool handle_guided_request(AP_Mission::Mission_Command &cmd) override;
void handle_change_alt_request(AP_Mission::Mission_Command &cmd) override;
bool try_send_message(enum ap_message id) override;
};

2
APMrover2/Log.cpp
View File

@ -279,7 +279,7 @@ void Rover::Log_Write_Nav_Tuning()
// Write an attitude packet
void Rover::Log_Write_Attitude()
{
Vector3f targets(0, 0, 0); // Rover does not have attitude targets, use place-holder for commonality with Dataflash Log_Write_Attitude message
Vector3f targets(0.0f, 0.0f, 0.0f); // Rover does not have attitude targets, use place-holder for commonality with Dataflash Log_Write_Attitude message
DataFlash.Log_Write_Attitude(ahrs, targets);

6
APMrover2/Parameters.cpp
View File

@ -599,15 +599,15 @@ void Rover::load_parameters(void)
cliSerial->printf("done.\n");
}
unsigned long before = micros();
uint32_t before = micros();
// Load all auto-loaded EEPROM variables
AP_Param::load_all();
AP_Param::set_frame_type_flags(AP_PARAM_FRAME_ROVER);
SRV_Channels::set_default_function(CH_1, SRV_Channel::k_steering);
SRV_Channels::set_default_function(CH_3, SRV_Channel::k_throttle);
const uint8_t old_rc_keys[14] = { Parameters::k_param_rc_1_old, Parameters::k_param_rc_2_old,
Parameters::k_param_rc_3_old, Parameters::k_param_rc_4_old,
Parameters::k_param_rc_5_old, Parameters::k_param_rc_6_old,

5
APMrover2/Parameters.h
View File

@ -288,7 +288,7 @@ public:
Parameters() :
// PID controller initial P initial I initial D initial imax
//-----------------------------------------------------------------------------------
pidSpeedThrottle (0.7, 0.2, 0.2, 4000)
pidSpeedThrottle (0.7f, 0.2f, 0.2f, 4000)
{}
};
@ -310,7 +310,7 @@ public:
// RC input channels
RC_Channels rc_channels;
// control over servo output ranges
SRV_Channels servo_channels;
@ -318,7 +318,6 @@ public:
// advanced failsafe library
AP_AdvancedFailsafe_Rover afs;
#endif
};
extern const AP_Param::Info var_info[];

2
APMrover2/Rover.cpp
View File

@ -49,6 +49,6 @@ Rover::Rover(void) :
frsky_telemetry(ahrs, battery, sonar),
#endif
home(ahrs.get_home()),
G_Dt(0.02)
G_Dt(0.02f)
{
}

2
APMrover2/Rover.h
View File

@ -186,7 +186,7 @@ private:
AP_SerialManager serial_manager;
const uint8_t num_gcs;
GCS_MAVLINK_Rover gcs_chan[MAVLINK_COMM_NUM_BUFFERS];
GCS _gcs; // avoid using this; use gcs()
GCS _gcs; // avoid using this; use gcs()
GCS &gcs() { return _gcs; }
// relay support

2
APMrover2/Steering.cpp
View File

@ -172,7 +172,7 @@ void Rover::calc_throttle(float target_speed) {
}
if (use_pivot_steering()) {
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle,0);
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, 0);
}
}

14
APMrover2/commands_logic.cpp
View File

@ -305,7 +305,7 @@ bool Rover::verify_nav_wp(const AP_Mission::Mission_Command& cmd)
// check if distance to the WP has changed and output new message if it has
float dist_to_wp = get_distance(current_loc, next_WP);
if ((uint32_t)distance_past_wp != (uint32_t)dist_to_wp) {
if (!is_equal(distance_past_wp, dist_to_wp)) {
distance_past_wp = dist_to_wp;
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Passed waypoint #%i. Distance %um",
static_cast<uint32_t>(cmd.index),
@ -370,14 +370,14 @@ void Rover::nav_set_yaw_speed()
// if we haven't received a MAV_CMD_NAV_SET_YAW_SPEED message within the last 3 seconds bring the rover to a halt
if ((millis() - guided_yaw_speed.msg_time_ms) > 3000) {
gcs_send_text(MAV_SEVERITY_WARNING, "NAV_SET_YAW_SPEED not recvd last 3secs, stopping");
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle,g.throttle_min.get());
SRV_Channels::set_output_scaled(SRV_Channel::k_steering,0);
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, g.throttle_min.get());
SRV_Channels::set_output_scaled(SRV_Channel::k_steering, 0);
lateral_acceleration = 0;
return;
}
int32_t steering = steerController.get_steering_out_angle_error(guided_yaw_speed.turn_angle);
SRV_Channels::set_output_scaled(SRV_Channel::k_steering,steering);
SRV_Channels::set_output_scaled(SRV_Channel::k_steering, steering);
// speed param in the message gives speed as a proportion of cruise speed.
// 0.5 would set speed to the cruise speed
@ -401,7 +401,7 @@ void Rover::do_wait_delay(const AP_Mission::Mission_Command& cmd)
void Rover::do_within_distance(const AP_Mission::Mission_Command& cmd)
{
condition_value = cmd.content.distance.meters;
condition_value = cmd.content.distance.meters;
}
/********************************************************************************/
@ -432,12 +432,12 @@ bool Rover::verify_within_distance()
void Rover::do_change_speed(const AP_Mission::Mission_Command& cmd)
{
if (cmd.content.speed.target_ms > 0) {
if (cmd.content.speed.target_ms > 0.0f) {
g.speed_cruise.set(cmd.content.speed.target_ms);
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Cruise speed: %.1f m/s", static_cast<double>(g.speed_cruise.get()));
}
if (cmd.content.speed.throttle_pct > 0 && cmd.content.speed.throttle_pct <= 100) {
if (cmd.content.speed.throttle_pct > 0.0f && cmd.content.speed.throttle_pct <= 100.0f) {
g.throttle_cruise.set(cmd.content.speed.throttle_pct);
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Cruise throttle: %.1f", g.throttle_cruise.get());
}

2
APMrover2/navigation.cpp
View File

@ -11,7 +11,7 @@ void Rover::navigate()
return;
}
if ((next_WP.lat == 0 && next_WP.lng == 0) || (home_is_set == HOME_UNSET)){
if ((next_WP.lat == 0 && next_WP.lng == 0) || (home_is_set == HOME_UNSET)) {
return;
}

23
APMrover2/radio.cpp
View File

@ -18,9 +18,9 @@ void Rover::set_control_channels(void)
// For a rover safety is TRIM throttle
if (!arming.is_armed() && arming.arming_required() == AP_Arming::YES_MIN_PWM) {
hal.rcout->set_safety_pwm(1UL<<(rcmap.throttle()-1), channel_throttle->get_radio_trim());
hal.rcout->set_safety_pwm(1UL << (rcmap.throttle() - 1), channel_throttle->get_radio_trim());
if (g.skid_steer_out) {
hal.rcout->set_safety_pwm(1UL<<(rcmap.roll()-1), channel_steer->get_radio_trim());
hal.rcout->set_safety_pwm(1UL << (rcmap.roll() - 1), channel_steer->get_radio_trim());
}
}
// setup correct scaling for ESCs like the UAVCAN PX4ESC which
@ -50,9 +50,9 @@ void Rover::init_rc_out()
// For Rover's no throttle means TRIM as rovers can go backwards i.e. MIN throttle is
// full speed backward.
if (arming.arming_required() == AP_Arming::YES_MIN_PWM) {
hal.rcout->set_safety_pwm(1UL<<(rcmap.throttle()-1), channel_throttle->get_radio_trim());
hal.rcout->set_safety_pwm(1UL << (rcmap.throttle() - 1), channel_throttle->get_radio_trim());
if (g.skid_steer_out) {
hal.rcout->set_safety_pwm(1UL<<(rcmap.roll()-1), channel_steer->get_radio_trim());
hal.rcout->set_safety_pwm(1UL << (rcmap.roll() - 1), channel_steer->get_radio_trim());
}
}
}
@ -131,7 +131,7 @@ void Rover::read_radio()
control_failsafe(channel_throttle->get_radio_in());
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle,channel_throttle->get_control_in());
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, channel_throttle->get_control_in());
// Check if the throttle value is above 50% and we need to nudge
// Make sure its above 50% in the direction we are travelling
@ -139,7 +139,7 @@ void Rover::read_radio()
(((SRV_Channels::get_output_scaled(SRV_Channel::k_throttle) < 0) && in_reverse) ||
((SRV_Channels::get_output_scaled(SRV_Channel::k_throttle) > 0) && !in_reverse))) {
throttle_nudge = (g.throttle_max - g.throttle_cruise) *
((fabsf(channel_throttle->norm_input())-0.5f) / 0.5f);
((fabsf(channel_throttle->norm_input()) - 0.5f) / 0.5f);
} else {
throttle_nudge = 0;
}
@ -157,18 +157,19 @@ void Rover::read_radio()
float motor1 = channel_steer->norm_input();
float motor2 = channel_throttle->norm_input();
float steering_scaled = motor1 - motor2;
float throttle_scaled = 0.5f*(motor1 + motor2);
float throttle_scaled = 0.5f * (motor1 + motor2);
int16_t steer = channel_steer->get_radio_trim();
int16_t thr = channel_throttle->get_radio_trim();
if (steering_scaled > 0.0f) {
steer += steering_scaled*(channel_steer->get_radio_max()-channel_steer->get_radio_trim());
steer += steering_scaled * (channel_steer->get_radio_max()-channel_steer->get_radio_trim());
} else {
steer += steering_scaled*(channel_steer->get_radio_trim()-channel_steer->get_radio_min());
steer += steering_scaled * (channel_steer->get_radio_trim()-channel_steer->get_radio_min());
}
if (throttle_scaled > 0.0f) {
thr += throttle_scaled*(channel_throttle->get_radio_max()-channel_throttle->get_radio_trim());
thr += throttle_scaled * (channel_throttle->get_radio_max()-channel_throttle->get_radio_trim());
} else {
thr += throttle_scaled*(channel_throttle->get_radio_trim()-channel_throttle->get_radio_min());
thr += throttle_scaled * (channel_throttle->get_radio_trim()-channel_throttle->get_radio_min());
}
channel_steer->set_pwm(steer);
channel_throttle->set_pwm(thr);

2
APMrover2/system.cpp
View File

@ -268,7 +268,7 @@ void Rover::set_reverse(bool reverse)
void Rover::set_mode(enum mode mode)
{
if (control_mode == mode){
if (control_mode == mode) {
// don't switch modes if we are already in the correct mode.
return;
}

6
APMrover2/test.cpp
View File

@ -58,7 +58,7 @@ int8_t Rover::test_passthru(uint8_t argc, const Menu::arg *argv)
}
cliSerial->printf("\n");
}
if (cliSerial->available() > 0){
if (cliSerial->available() > 0) {
return (0);
}
}
@ -96,7 +96,7 @@ int8_t Rover::test_failsafe(uint8_t argc, const Menu::arg *argv)
fail_test++;
}
if (oldSwitchPosition != readSwitch()){
if (oldSwitchPosition != readSwitch()) {
cliSerial->printf("CONTROL MODE CHANGED: ");
print_mode(cliSerial, readSwitch());
cliSerial->printf("\n");
@ -183,7 +183,7 @@ int8_t Rover::test_modeswitch(uint8_t argc, const Menu::arg *argv)
while (1) {
delay(20);
uint8_t switchPosition = readSwitch();
if (oldSwitchPosition != switchPosition){
if (oldSwitchPosition != switchPosition) {
cliSerial->printf("Position %d\n", switchPosition);
oldSwitchPosition = switchPosition;
}