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Copter: white space fixes

This commit is contained in:
Randy Mackay 2020-04-23 13:14:18 +09:00
parent eee0f028ba
commit c4b5d47e1f
9 changed files with 40 additions and 40 deletions
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6
ArduCopter/Copter.cpp
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@ -22,7 +22,7 @@
* Based on code and ideas from the Arducopter team: Leonard Hall, Andrew Tridgell, Robert Lefebvre, Pat Hickey, Michael Oborne, Jani Hirvinen,
Olivier Adler, Kevin Hester, Arthur Benemann, Jonathan Challinger, John Arne Birkeland,
Jean-Louis Naudin, Mike Smith, and more
* Thanks to: Chris Anderson, Jordi Munoz, Jason Short, Doug Weibel, Jose Julio
* Thanks to: Chris Anderson, Jordi Munoz, Jason Short, Doug Weibel, Jose Julio
*
* Special Thanks to contributors (in alphabetical order by first name):
*
@ -37,7 +37,7 @@
* Christof Schmid :Alpha testing
* Craig Elder :Release Management, Support
* Dani Saez :V Octo Support
* Doug Weibel :DCM, Libraries, Control law advice
* Doug Weibel :DCM, Libraries, Control law advice
* Emile Castelnuovo :VRBrain port, bug fixes
* Gregory Fletcher :Camera mount orientation math
* Guntars :Arming safety suggestion
@ -48,7 +48,7 @@
* James Goppert :Mavlink Support
* Jani Hiriven :Testing feedback
* Jean-Louis Naudin :Auto Landing
* John Arne Birkeland :PPM Encoder
* John Arne Birkeland :PPM Encoder
* Jose Julio :Stabilization Control laws, MPU6k driver
* Julien Dubois :PosHold flight mode
* Julian Oes :Pixhawk

4
ArduCopter/Parameters.cpp
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@ -479,9 +479,9 @@ const AP_Param::Info Copter::var_info[] = {
GOBJECT(relay, "RELAY_", AP_Relay),
#if PARACHUTE == ENABLED
// @Group: CHUTE_
// @Group: CHUTE_
// @Path: ../libraries/AP_Parachute/AP_Parachute.cpp
GOBJECT(parachute, "CHUTE_", AP_Parachute),
GOBJECT(parachute, "CHUTE_", AP_Parachute),
#endif
// @Group: LGR_

16
ArduCopter/Parameters.h
View File

@ -27,20 +27,20 @@ public:
// Parameter identities.
//
// The enumeration defined here is used to ensure that every parameter
// or parameter group has a unique ID number. This number is used by
// or parameter group has a unique ID number. This number is used by
// AP_Param to store and locate parameters in EEPROM.
//
// Note that entries without a number are assigned the next number after
// the entry preceding them. When adding new entries, ensure that they
// the entry preceding them. When adding new entries, ensure that they
// don't overlap.
//
// Try to group related variables together, and assign them a set
// range in the enumeration. Place these groups in numerical order
// range in the enumeration. Place these groups in numerical order
// at the end of the enumeration.
//
// WARNING: Care should be taken when editing this enumeration as the
// AP_Param load/save code depends on the values here to identify
// variables saved in EEPROM.
// AP_Param load/save code depends on the values here to identify
// variables saved in EEPROM.
//
//
enum {
@ -94,7 +94,7 @@ public:
// with next eeprom number
// change
k_param_toy_yaw_rate, // deprecated - remove
k_param_crosstrack_min_distance, // deprecated - remove with next eeprom number change
k_param_crosstrack_min_distance, // deprecated - remove with next eeprom number change
k_param_rssi_pin, // unused, replaced by rssi_ library parameters
k_param_throttle_accel_enabled, // deprecated - remove
k_param_wp_yaw_behavior,
@ -253,10 +253,10 @@ public:
// 160: Navigation parameters
//
k_param_rtl_altitude = 160,
k_param_crosstrack_gain, // deprecated - remove with next eeprom number change
k_param_crosstrack_gain, // deprecated - remove with next eeprom number change
k_param_rtl_loiter_time,
k_param_rtl_alt_final,
k_param_tilt_comp, //164 deprecated - remove with next eeprom number change
k_param_tilt_comp, // 164 deprecated - remove with next eeprom number change
//

2
ArduCopter/RC_Channel.cpp
View File

@ -513,7 +513,7 @@ void RC_Channel_Copter::do_aux_function(const aux_func_t ch_option, const aux_sw
do_aux_function_change_mode(Mode::Number::ALT_HOLD, ch_flag);
break;
case AUX_FUNC::FLOWHOLD:
case AUX_FUNC::FLOWHOLD:
#if OPTFLOW == ENABLED
do_aux_function_change_mode(Mode::Number::FLOWHOLD, ch_flag);
#endif

2
ArduCopter/config.h
View File

@ -537,7 +537,7 @@
#endif
#ifndef RTL_ALT
# define RTL_ALT 1500 // default alt to return to home in cm, 0 = Maintain current altitude
# define RTL_ALT 1500 // default alt to return to home in cm, 0 = Maintain current altitude
#endif
#ifndef RTL_ALT_MIN

2
ArduCopter/crash_check.cpp
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@ -153,7 +153,7 @@ void Copter::thrust_loss_check()
// called at MAIN_LOOP_RATE
void Copter::parachute_check()
{
static uint16_t control_loss_count; // number of iterations we have been out of control
static uint16_t control_loss_count; // number of iterations we have been out of control
static int32_t baro_alt_start;
// exit immediately if parachute is not enabled

2
ArduCopter/mode.cpp
View File

@ -409,7 +409,7 @@ void Mode::get_pilot_desired_lean_angles(float &roll_out, float &pitch_out, floa
roll_out = channel_roll->get_control_in();
pitch_out = channel_pitch->get_control_in();
// limit max lean angle
// limit max lean angle
angle_limit = constrain_float(angle_limit, 1000.0f, angle_max);
// scale roll and pitch inputs to ANGLE_MAX parameter range

36
ArduCopter/mode_auto.cpp
View File

@ -1053,7 +1053,7 @@ Location ModeAuto::terrain_adjusted_location(const AP_Mission::Mission_Command&
}
/********************************************************************************/
// Nav (Must) commands
// Nav (Must) commands
/********************************************************************************/
// do_takeoff - initiate takeoff navigation command
@ -1343,7 +1343,7 @@ void ModeAuto::do_nav_delay(const AP_Mission::Mission_Command& cmd)
}
/********************************************************************************/
// Condition (May) commands
// Condition (May) commands
/********************************************************************************/
void ModeAuto::do_wait_delay(const AP_Mission::Mission_Command& cmd)
@ -1359,15 +1359,15 @@ void ModeAuto::do_within_distance(const AP_Mission::Mission_Command& cmd)
void ModeAuto::do_yaw(const AP_Mission::Mission_Command& cmd)
{
auto_yaw.set_fixed_yaw(
cmd.content.yaw.angle_deg,
cmd.content.yaw.turn_rate_dps,
cmd.content.yaw.direction,
cmd.content.yaw.relative_angle > 0);
auto_yaw.set_fixed_yaw(
cmd.content.yaw.angle_deg,
cmd.content.yaw.turn_rate_dps,
cmd.content.yaw.direction,
cmd.content.yaw.relative_angle > 0);
}
/********************************************************************************/
// Do (Now) commands
// Do (Now) commands
/********************************************************************************/
@ -1401,7 +1401,7 @@ void ModeAuto::do_set_home(const AP_Mission::Mission_Command& cmd)
// do_roi - starts actions required by MAV_CMD_DO_SET_ROI
// this involves either moving the camera to point at the ROI (region of interest)
// and possibly rotating the copter to point at the ROI if our mount type does not support a yaw feature
// TO-DO: add support for other features of MAV_CMD_DO_SET_ROI including pointing at a given waypoint
// TO-DO: add support for other features of MAV_CMD_DO_SET_ROI including pointing at a given waypoint
void ModeAuto::do_roi(const AP_Mission::Mission_Command& cmd)
{
auto_yaw.set_roi(cmd.content.location);
@ -1471,7 +1471,7 @@ void ModeAuto::do_RTL(void)
}
/********************************************************************************/
// Verify Nav (Must) commands
// Verify Nav (Must) commands
/********************************************************************************/
// verify_takeoff - check if we have completed the takeoff
@ -1778,18 +1778,18 @@ bool ModeAuto::verify_nav_wp(const AP_Mission::Mission_Command& cmd)
// start timer if necessary
if (loiter_time == 0) {
loiter_time = millis();
if (loiter_time_max > 0) {
// play a tone
AP_Notify::events.waypoint_complete = 1;
}
if (loiter_time_max > 0) {
// play a tone
AP_Notify::events.waypoint_complete = 1;
}
}
// check if timer has run out
if (((millis() - loiter_time) / 1000) >= loiter_time_max) {
if (loiter_time_max == 0) {
// play a tone
AP_Notify::events.waypoint_complete = 1;
}
if (loiter_time_max == 0) {
// play a tone
AP_Notify::events.waypoint_complete = 1;
}
gcs().send_text(MAV_SEVERITY_INFO, "Reached command #%i",cmd.index);
return true;
}

10
ArduCopter/toy_mode.cpp
View File

@ -907,15 +907,15 @@ void ToyMode::blink_update(void)
if (copter.motors->armed() && AP_Notify::flags.failsafe_battery) {
pattern = BLINK_8;
} else if (!copter.motors->armed() && (blink_disarm > 0)) {
pattern = BLINK_8;
blink_disarm--;
} else {
pattern = BLINK_8;
blink_disarm--;
} else {
pattern = BLINK_FULL;
}
if (copter.motors->armed()) {
blink_disarm = 4;
}
blink_disarm = 4;
}
if (red_blink_count == 0) {
red_blink_pattern = pattern;