Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

uncrustify libraries/AP_GPS/GPS.cpp

This commit is contained in:
uncrustify 2012-08-16 23:19:44 -07:00 committed by Pat Hickey
parent c5451b0e9b
commit cdaf2f923d
1 changed files with 29 additions and 29 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

58
libraries/AP_GPS/GPS.cpp
View File

@ -5,36 +5,36 @@
#define GPS_DEBUGGING 0
#if GPS_DEBUGGING
#include <FastSerial.h>
# define Debug(fmt, args...) do {Serial.printf("%s:%d: " fmt "\n", __FUNCTION__, __LINE__ , ##args); delay(0); } while(0)
#include <FastSerial.h>
# define Debug(fmt, args ...) do {Serial.printf("%s:%d: " fmt "\n", __FUNCTION__, __LINE__, ## args); delay(0); } while(0)
#else
# define Debug(fmt, args...)
# define Debug(fmt, args ...)
#endif
#include <AP_Common.h>
#include <AP_Math.h>
#include "GPS.h"
#if defined(ARDUINO) && ARDUINO >= 100
#include "Arduino.h"
#include "Arduino.h"
#else
#include "WProgram.h"
#include "WProgram.h"
#endif
void
GPS::update(void)
{
bool result;
uint32_t tnow;
bool result;
uint32_t tnow;
// call the GPS driver to process incoming data
result = read();
tnow = millis();
tnow = millis();
// if we did not get a message, and the idle timer has expired, re-init
if (!result) {
if ((tnow - _idleTimer) > idleTimeout) {
Debug("gps read timeout %lu %lu", (unsigned long)tnow, (unsigned long)_idleTimer);
Debug("gps read timeout %lu %lu", (unsigned long)tnow, (unsigned long)_idleTimer);
_status = NO_GPS;
init(_nav_setting);
@ -51,26 +51,26 @@ GPS::update(void)
// reset the idle timer
_idleTimer = tnow;
if (_status == GPS_OK) {
last_fix_time = _idleTimer;
_last_ground_speed_cm = ground_speed;
if (_status == GPS_OK) {
last_fix_time = _idleTimer;
_last_ground_speed_cm = ground_speed;
if (_have_raw_velocity) {
// the GPS is able to give us velocity numbers directly
_velocity_north = _vel_north * 0.01;
_velocity_east = _vel_east * 0.01;
} else {
float gps_heading = ToRad(ground_course * 0.01);
float gps_speed = ground_speed * 0.01;
float sin_heading, cos_heading;
if (_have_raw_velocity) {
// the GPS is able to give us velocity numbers directly
_velocity_north = _vel_north * 0.01;
_velocity_east = _vel_east * 0.01;
} else {
float gps_heading = ToRad(ground_course * 0.01);
float gps_speed = ground_speed * 0.01;
float sin_heading, cos_heading;
cos_heading = cos(gps_heading);
sin_heading = sin(gps_heading);
cos_heading = cos(gps_heading);
sin_heading = sin(gps_heading);
_velocity_north = gps_speed * cos_heading;
_velocity_east = gps_speed * sin_heading;
}
}
_velocity_north = gps_speed * cos_heading;
_velocity_east = gps_speed * sin_heading;
}
}
}
}
@ -92,7 +92,7 @@ GPS::_error(const char *msg)
///
void GPS::_write_progstr_block(Stream *_fs, const prog_char *pstr, uint8_t size)
{
while (size--) {
_fs->write(pgm_read_byte(pstr++));
}
while (size--) {
_fs->write(pgm_read_byte(pstr++));
}
}