AP_Airspeed: fix coding style

- replace tabs with spaces
  - remove C-style void from function arguments
  - use pragma once
  - fix pointer alignement
  - remove unused header: AP_Airspeed_I2C_PX4 - we actually use
    AP_Airspeed_PX4

libraries/AP_Airspeed/AP_Airspeed.cpp

@@ -16,15 +16,17 @@
 /*
  *   APM_Airspeed.cpp - airspeed (pitot) driver
  */
-
-
-#include <AP_HAL/AP_HAL.h>
-#include <AP_Math/AP_Math.h>
-#include <AP_Common/AP_Common.h>
-#include <AP_ADC/AP_ADC.h>
 #include "AP_Airspeed.h"
 
-extern const AP_HAL::HAL& hal;
+#include <AP_ADC/AP_ADC.h>
+#include <AP_Common/AP_Common.h>
+#include <AP_HAL/AP_HAL.h>
+#include <AP_Math/AP_Math.h>
+
+extern const AP_HAL::HAL &hal;
+
+// the virtual pin for digital airspeed sensors
+#define AP_AIRSPEED_I2C_PIN 65
 
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
  #define ARSPD_DEFAULT_PIN 1
@@ -118,7 +120,7 @@ const AP_Param::GroupInfo AP_Airspeed::var_info[] = {
 
 
 /*
-  this scaling factor converts from the old system where we used a 
+  this scaling factor converts from the old system where we used a
   0 to 4095 raw ADC value for 0-5V to the new system which gets the
   voltage in volts directly from the ADC driver
  */
@@ -130,7 +132,7 @@ void AP_Airspeed::init()
     _calibration.init(_ratio);
     _last_saved_ratio = _ratio;
     _counter = 0;
-    
+
     analog.init();
     digital.init();
 }
@@ -244,7 +246,7 @@ void AP_Airspeed::setHIL(float airspeed, float diff_pressure, float temperature)
     _raw_airspeed = airspeed;
     _airspeed = airspeed;
     _last_pressure = diff_pressure;
-    _last_update_ms = AP_HAL::millis();    
+    _last_update_ms = AP_HAL::millis();
     _hil_pressure = diff_pressure;
     _hil_set = true;
     _healthy = true;

libraries/AP_Airspeed/AP_Airspeed.h

@@ -1,17 +1,16 @@
 /// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
-
+#pragma once
-#ifndef __AP_AIRSPEED_H__
-#define __AP_AIRSPEED_H__
 
 #include <AP_Common/AP_Common.h>
 #include <AP_HAL/AP_HAL.h>
 #include <AP_Param/AP_Param.h>
-#include <GCS_MAVLink/GCS_MAVLink.h>
 #include <AP_Vehicle/AP_Vehicle.h>
+#include <GCS_MAVLink/GCS_MAVLink.h>
+
 #include "AP_Airspeed_Backend.h"
-#include "AP_Airspeed_analog.h"
-#include "AP_Airspeed_PX4.h"
 #include "AP_Airspeed_I2C.h"
+#include "AP_Airspeed_PX4.h"
+#include "AP_Airspeed_analog.h"
 
 class Airspeed_Calibration {
 public:
@@ -40,19 +39,10 @@ class AP_Airspeed
 {
 public:
     // constructor
-    AP_Airspeed(const AP_Vehicle::FixedWing &parms) :
+    AP_Airspeed(const AP_Vehicle::FixedWing &parms)
-        _raw_airspeed(0.0f),
+        : _EAS2TAS(1.0f)
-        _airspeed(0.0f),
+        , _calibration(parms)
-        _last_pressure(0.0f),
+        , analog(_pin)
-        _raw_pressure(0.0f),
-        _EAS2TAS(1.0f),
-        _healthy(false),
-        _hil_set(false),
-        _last_update_ms(0),
-        _calibration(parms),
-        _last_saved_ratio(0.0f),
-        _counter(0),
-        analog(_pin)
     {
 		AP_Param::setup_object_defaults(this, var_info);
     };
@@ -149,7 +139,7 @@ public:
     // return health status of sensor
     bool healthy(void) const { return _healthy && fabsf(_offset) > 0; }
 
-    void setHIL(float pressure) { _healthy=_hil_set=true; _hil_pressure=pressure; };
+    void setHIL(float pressure) { _healthy=_hil_set=true; _hil_pressure=pressure; }
 
     // return time in ms of last update
     uint32_t last_update_ms(void) const { return _last_update_ms; }
@@ -158,9 +148,9 @@ public:
 
     static const struct AP_Param::GroupInfo var_info[];
 
-    enum pitot_tube_order { PITOT_TUBE_ORDER_POSITIVE =0, 
+    enum pitot_tube_order { PITOT_TUBE_ORDER_POSITIVE = 0,
-                            PITOT_TUBE_ORDER_NEGATIVE =1, 
+                            PITOT_TUBE_ORDER_NEGATIVE = 1,
-                            PITOT_TUBE_ORDER_AUTO     =2};
+                            PITOT_TUBE_ORDER_AUTO     = 2 };
 
 private:
     AP_Float        _offset;
@@ -194,9 +184,3 @@ private:
     AP_Airspeed_I2C    digital;
 #endif
 };
-
-// the virtual pin for digital airspeed sensors
-#define AP_AIRSPEED_I2C_PIN 65
-
-#endif // __AP_AIRSPEED_H__
-

libraries/AP_Airspeed/AP_Airspeed_Backend.h

@@ -18,9 +18,7 @@
 /*
   backend driver class for airspeed
  */
-
+#pragma once
-#ifndef __AP_AIRSPEED_BACKEND_H__
-#define __AP_AIRSPEED_BACKEND_H__
 
 #include <AP_Common/AP_Common.h>
 #include <AP_HAL/AP_HAL.h>
@@ -36,5 +34,3 @@ public:
     // return the current temperature in degrees C, if available
     virtual bool get_temperature(float &temperature) = 0;
 };
-
-#endif // __AP_AIRSPEED_BACKEND_H__

libraries/AP_Airspeed/AP_Airspeed_I2C.cpp

@@ -18,25 +18,26 @@
 /*
   backend driver for airspeed from a I2C MS4525D0 sensor
  */
+#include "AP_Airspeed_I2C.h"
 
 #include <AP_Common/AP_Common.h>
 #include <AP_HAL/AP_HAL.h>
 #include <AP_Math/AP_Math.h>
-#include "AP_Airspeed_I2C.h"
 
-extern const AP_HAL::HAL& hal;
+extern const AP_HAL::HAL &hal;
 
-#define I2C_ADDRESS_MS4525DO	0x28
+#define I2C_ADDRESS_MS4525DO 0x28
 
 // probe and initialise the sensor
-bool AP_Airspeed_I2C::init(void)
+bool AP_Airspeed_I2C::init()
 {
     // get pointer to i2c bus semaphore
     AP_HAL::Semaphore* i2c_sem = hal.i2c->get_semaphore();
 
     // take i2c bus sempahore
-    if (!i2c_sem->take(200))
+    if (!i2c_sem->take(200)) {
         return false;
+    }
 
     _measure();
     hal.scheduler->delay(10);
@@ -50,7 +51,7 @@ bool AP_Airspeed_I2C::init(void)
 }
 
 // start a measurement
-void AP_Airspeed_I2C::_measure(void)
+void AP_Airspeed_I2C::_measure()
 {
     _measurement_started_ms = 0;
     if (hal.i2c->writeRegisters(I2C_ADDRESS_MS4525DO, 0, 0, NULL) == 0) {
@@ -59,7 +60,7 @@ void AP_Airspeed_I2C::_measure(void)
 }
 
 // read the values from the sensor
-void AP_Airspeed_I2C::_collect(void)
+void AP_Airspeed_I2C::_collect()
 {
     uint8_t data[4];
 
@@ -68,46 +69,45 @@ void AP_Airspeed_I2C::_collect(void)
     if (hal.i2c->read(I2C_ADDRESS_MS4525DO, 4, data) != 0) {
         return;
     }
-    
+
-	uint8_t status = data[0] & 0xC0;
+    uint8_t status = data[0] & 0xC0;
-	if (status == 2) {
+    if (status == 2 || status == 3) {
         return;
-	} else if (status == 3) {
+    }
-        return;
-	}
 
-	int16_t dp_raw, dT_raw;
+    int16_t dp_raw, dT_raw;
-	dp_raw = (data[0] << 8) + data[1];
+    dp_raw = (data[0] << 8) + data[1];
-	dp_raw = 0x3FFF & dp_raw;
+    dp_raw = 0x3FFF & dp_raw;
-	dT_raw = (data[2] << 8) + data[3];
+    dT_raw = (data[2] << 8) + data[3];
-	dT_raw = (0xFFE0 & dT_raw) >> 5;
+    dT_raw = (0xFFE0 & dT_raw) >> 5;
 
-	const float P_min = -1.0f;
+    const float P_min = -1.0f;
-	const float P_max = 1.0f;
+    const float P_max = 1.0f;
-	const float PSI_to_Pa = 6894.757f;
+    const float PSI_to_Pa = 6894.757f;
-	/*
+    /*
-	  this equation is an inversion of the equation in the
+      this equation is an inversion of the equation in the
-	  pressure transfer function figure on page 4 of the datasheet
+      pressure transfer function figure on page 4 of the datasheet
 
-	  We negate the result so that positive differential pressures
+      We negate the result so that positive differential pressures
-	  are generated when the bottom port is used as the static
+      are generated when the bottom port is used as the static
-	  port on the pitot and top port is used as the dynamic port
+      port on the pitot and top port is used as the dynamic port
-	 */
+     */
-	float diff_press_PSI = -((dp_raw - 0.1f*16383) * (P_max-P_min)/(0.8f*16383) + P_min);
+    float diff_press_PSI = -((dp_raw - 0.1f*16383) * (P_max-P_min)/(0.8f*16383) + P_min);
 
-	_pressure = diff_press_PSI * PSI_to_Pa;
+    _pressure = diff_press_PSI * PSI_to_Pa;
-	_temperature = ((200.0f * dT_raw) / 2047) - 50;
+    _temperature = ((200.0f * dT_raw) / 2047) - 50;
 
     _last_sample_time_ms = AP_HAL::millis();
 }
 
 // 1kHz timer
-void AP_Airspeed_I2C::_timer(void)
+void AP_Airspeed_I2C::_timer()
 {
     AP_HAL::Semaphore* i2c_sem = hal.i2c->get_semaphore();
 
-    if (!i2c_sem->take_nonblocking())
+    if (!i2c_sem->take_nonblocking()) {
         return;
+    }
 
     if (_measurement_started_ms == 0) {
         _measure();
@@ -141,5 +141,3 @@ bool AP_Airspeed_I2C::get_temperature(float &temperature)
     temperature = _temperature;
     return true;
 }
-
-

libraries/AP_Airspeed/AP_Airspeed_I2C.h

@@ -18,18 +18,17 @@
 /*
   backend driver for airspeed from I2C
  */
-
+#pragma once
-#ifndef __AP_AIRSPEED_I2C_H__
-#define __AP_AIRSPEED_I2C_H__
 
 #include <AP_HAL/AP_HAL.h>
+
 #include "AP_Airspeed_Backend.h"
 
-class AP_Airspeed_I2C : public AP_Airspeed_Backend 
+class AP_Airspeed_I2C : public AP_Airspeed_Backend
 {
 public:
     // probe and initialise the sensor
-    bool init(void);
+    bool init();
 
     // return the current differential_pressure in Pascal
     bool get_differential_pressure(float &pressure);
@@ -38,15 +37,11 @@ public:
     bool get_temperature(float &temperature);
 
 private:
-    void _measure(void);
+    void _measure();
-    void _collect(void);
+    void _collect();
-    void _timer(void);
+    void _timer();
     float _temperature;
     float _pressure;
     uint32_t _last_sample_time_ms;
     uint32_t _measurement_started_ms;
 };
-
-#endif // __AP_AIRSPEED_I2C_H__
-
-

libraries/AP_Airspeed/AP_Airspeed_I2C_PX4.h

@@ -1,54 +0,0 @@
-/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
-
-/*
-   This program is free software: you can redistribute it and/or modify
-   it under the terms of the GNU General Public License as published by
-   the Free Software Foundation, either version 3 of the License, or
-   (at your option) any later version.
-
-   This program is distributed in the hope that it will be useful,
-   but WITHOUT ANY WARRANTY; without even the implied warranty of
-   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-   GNU General Public License for more details.
-
-   You should have received a copy of the GNU General Public License
-   along with this program.  If not, see <http://www.gnu.org/licenses/>.
- */
-
-/*
-  backend driver for airspeed from I2C
- */
-
-#ifndef __AP_AIRSPEED_I2C_H__
-#define __AP_AIRSPEED_I2C_H__
-
-#include <AP_Common/AP_Common.h>
-#include <AP_HAL/AP_HAL.h>
-
-class AP_Airspeed_I2C_PX4 : AP_Airspeed_I2C {
-public:
-    // constructor
-    AP_Airspeed_I2C();
-
-    // probe and initialise the sensor
-    bool init(void);
-
-    // return the current differential_pressure in Pascal
-    bool get_differential_pressure(float &pressure);
-
-    // return the current temperature in degrees C, if available
-    bool get_temperature(float &temperature);
-
-private:
-    void _measure(void);
-    void _collect(void);
-    void _timer(void);
-    float _temperature;
-    float _pressure;
-    uint32_t _last_sample_time_ms;
-    uint32_t _measurement_started_ms;
-};
-
-#endif // __AP_AIRSPEED_I2C_H__
-
-

libraries/AP_Airspeed/AP_Airspeed_PX4.cpp

@@ -23,6 +23,7 @@
 #if CONFIG_HAL_BOARD == HAL_BOARD_PX4  || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
 
 #include "AP_Airspeed_PX4.h"
+
 #include <drivers/drv_airspeed.h>
 #include <uORB/topics/differential_pressure.h>
 #include <sys/types.h>
@@ -30,7 +31,7 @@
 #include <fcntl.h>
 #include <unistd.h>
 
-extern const AP_HAL::HAL& hal;
+extern const AP_HAL::HAL &hal;
 
 bool AP_Airspeed_PX4::init()
 {
@@ -57,7 +58,7 @@ bool AP_Airspeed_PX4::get_differential_pressure(float &pressure)
     float tsum = 0;
     uint16_t count = 0;
     struct differential_pressure_s report;
-    
+
     while (::read(_fd, &report, sizeof(report)) == sizeof(report) &&
            report.timestamp != _last_timestamp) {
         psum += report.differential_pressure_raw_pa;

libraries/AP_Airspeed/AP_Airspeed_PX4.h

@@ -16,11 +16,9 @@
  */
 
 /*
-  backend driver for airspeed from I2C
+  backend driver for airspeed from PX4Firmware
  */
-
+#pragma once
-#ifndef __AP_AIRSPEED_PX4_H__
-#define __AP_AIRSPEED_PX4_H__
 
 #include <AP_HAL/AP_HAL.h>
 #include "AP_Airspeed_Backend.h"
@@ -44,5 +42,3 @@ private:
     uint64_t _last_timestamp;
     float _temperature;
 };
-
-#endif // __AP_AIRSPEED_PX4_H__

libraries/AP_Airspeed/AP_Airspeed_analog.cpp

@@ -16,15 +16,15 @@
 /*
  *   analog airspeed driver
  */
+#include "AP_Airspeed_analog.h"
 
-
-#include <AP_HAL/AP_HAL.h>
-#include <AP_Math/AP_Math.h>
-#include <AP_Common/AP_Common.h>
 #include <AP_ADC/AP_ADC.h>
+#include <AP_Common/AP_Common.h>
+#include <AP_HAL/AP_HAL.h>
+
 #include "AP_Airspeed.h"
 
-extern const AP_HAL::HAL& hal;
+extern const AP_HAL::HAL &hal;
 
 // scaling for 3DR analog airspeed sensor
 #define VOLTS_TO_PASCAL 819
@@ -45,4 +45,3 @@ bool AP_Airspeed_Analog::get_differential_pressure(float &pressure)
     pressure = _source->voltage_average_ratiometric() * VOLTS_TO_PASCAL;
     return true;
 }
-

libraries/AP_Airspeed/AP_Airspeed_analog.h

@@ -1,19 +1,19 @@
 /// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
-
+#pragma once
-#ifndef __AP_AIRSPEED_ANALOG_H__
-#define __AP_AIRSPEED_ANALOG_H__
 
 #include <AP_HAL/AP_HAL.h>
+#include <AP_Param/AP_Param.h>
+
 #include "AP_Airspeed_Backend.h"
 
 class AP_Airspeed_Analog : public AP_Airspeed_Backend
 {
 public:
-    AP_Airspeed_Analog(const AP_Int8 &pin) : 
+    AP_Airspeed_Analog(const AP_Int8 &pin)
-        _source(NULL),
+        : _source(NULL)
-        _pin(pin),
+        , _pin(pin)
-        _last_pin(-1)
+        , _last_pin(-1)
-    {}
+    { }
 
     // probe and initialise the sensor
     bool init(void);
@@ -29,5 +29,3 @@ private:
     const AP_Int8 &_pin;
     int8_t _last_pin;
 };
-
-#endif // __AP_AIRSPEED_ANALOG_H__

libraries/AP_Airspeed/Airspeed_Calibration.cpp

@@ -1,28 +1,29 @@
 /// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
 /*
  *   auto_calibration.cpp - airspeed auto calibration
-
+ *
- * Algorithm by Paul Riseborough 
+ * Algorithm by Paul Riseborough
  *
  */
 
+#include <AP_Common/AP_Common.h>
 #include <AP_HAL/AP_HAL.h>
 #include <AP_Math/AP_Math.h>
-#include <AP_Common/AP_Common.h>
+
 #include "AP_Airspeed.h"
 
 extern const AP_HAL::HAL& hal;
 
 // constructor - fill in all the initial values
-Airspeed_Calibration::Airspeed_Calibration(const AP_Vehicle::FixedWing &parms) :
+Airspeed_Calibration::Airspeed_Calibration(const AP_Vehicle::FixedWing &parms)
-    P(100,   0,         0,
+    : P(100,   0,         0,
-      0,   100,         0,
+        0,   100,         0,
-      0,     0,  0.000001f),
+        0,     0,  0.000001f)
-    Q0(0.01f),
+    , Q0(0.01f)
-    Q1(0.0000005f),
+    , Q1(0.0000005f)
-    state(0, 0, 0),
+    , state(0, 0, 0)
-    DT(1),
+    , DT(1)
-    aparm(parms)
+    , aparm(parms)
 {
 }
 
@@ -47,14 +48,14 @@ float Airspeed_Calibration::update(float airspeed, const Vector3f &vg)
     P.a.x += Q0;
     P.b.y += Q0;
     P.c.z += Q1;
-    
+
     // Perform the predicted measurement using the current state estimates
     // No state prediction required because states are assumed to be time
     // invariant plus process noise
     // Ignore vertical wind component
     float TAS_pred = state.z * pythagorous3(vg.x - state.x, vg.y - state.y, vg.z);
     float TAS_mea  = airspeed;
-    
+
     // Calculate the observation Jacobian H_TAS
     float SH1 = sq(vg.y - state.y) + sq(vg.x - state.x);
     if (SH1 < 0.000001f) {
@@ -68,32 +69,32 @@ float Airspeed_Calibration::update(float airspeed, const Vector3f &vg)
         -(state.z*SH2*(2*vg.x - 2*state.x))/2,
         -(state.z*SH2*(2*vg.y - 2*state.y))/2,
         1/SH2);
-    
+
     // Calculate the fusion innovaton covariance assuming a TAS measurement
     // noise of 1.0 m/s
     // S = H_TAS*P*H_TAS' + 1.0; % [1 x 3] * [3 x 3] * [3 x 1] + [1 x 1]
     Vector3f PH = P * H_TAS;
     float S = H_TAS * PH + 1.0f;
-    
+
     // Calculate the Kalman gain
     // [3 x 3] * [3 x 1] / [1 x 1]
-    Vector3f KG = PH / S; 
+    Vector3f KG = PH / S;
-    
+
     // Update the states
     state += KG*(TAS_mea - TAS_pred); // [3 x 1] + [3 x 1] * [1 x 1]
-    
+
     // Update the covariance matrix
     Vector3f HP2 = H_TAS * P;
     P -= KG.mul_rowcol(HP2);
-    
+
     // force symmetry on the covariance matrix - necessary due to rounding
     // errors
-	float P12 = 0.5f * (P.a.y + P.b.x);
+    float P12 = 0.5f * (P.a.y + P.b.x);
-	float P13 = 0.5f * (P.a.z + P.c.x);
+    float P13 = 0.5f * (P.a.z + P.c.x);
-	float P23 = 0.5f * (P.b.z + P.c.y);
+    float P23 = 0.5f * (P.b.z + P.c.y);
-	P.a.y = P.b.x = P12;
+    P.a.y = P.b.x = P12;
-	P.a.z = P.c.x = P13;
+    P.a.z = P.c.x = P13;
-	P.b.z = P.c.y = P23;
+    P.b.z = P.c.y = P23;
 
     // Constrain diagonals to be non-negative - protects against rounding errors
     P.a.x = MAX(P.a.x, 0.0f);
@@ -120,7 +121,7 @@ void AP_Airspeed::update_calibration(const Vector3f &vground)
 
     // set state.z based on current ratio, this allows the operator to
     // override the current ratio in flight with autocal, which is
-    // very useful both for testing and to force a reasonable value. 
+    // very useful both for testing and to force a reasonable value.
     float ratio = constrain_float(_ratio, 1.0f, 4.0f);
 
     _calibration.state.z = 1.0f / sqrtf(ratio);
@@ -139,7 +140,7 @@ void AP_Airspeed::update_calibration(const Vector3f &vground)
     zratio = constrain_float(zratio, 0.5f, 1.0f);
     _ratio.set(1/sq(zratio));
     if (_counter > 60) {
-        if (_last_saved_ratio > 1.05f*_ratio || 
+        if (_last_saved_ratio > 1.05f*_ratio ||
             _last_saved_ratio < 0.95f*_ratio) {
             _ratio.save();
             _last_saved_ratio = _ratio;

libraries/AP_Airspeed/examples/Airspeed/Airspeed.cpp

@@ -15,13 +15,13 @@
  */
 
 /*
- *   Airspeed.pde - airspeed example sketch
+ *   Airspeed.cpp - airspeed example sketch
  *
  */
 
-#include <AP_HAL/AP_HAL.h>
 #include <AP_ADC/AP_ADC.h>
 #include <AP_Airspeed/AP_Airspeed.h>
+#include <AP_HAL/AP_HAL.h>
 
 const AP_HAL::HAL& hal = AP_HAL::get_HAL();