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ACM : formatting

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This commit is contained in:
Jason Short 2012-11-09 21:29:56 -08:00
parent 5cb5618814
commit d2a0913b2d
1 changed files with 55 additions and 59 deletions
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114
ArduCopter/ArduCopter.pde
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@ -64,27 +64,27 @@
#include <AP_Common.h> #include <AP_Common.h>
#include <AP_Menu.h> #include <AP_Menu.h>
#include <Arduino_Mega_ISR_Registry.h> #include <Arduino_Mega_ISR_Registry.h>
#include <APM_RC.h> // ArduPilot Mega RC Library #include <APM_RC.h> // ArduPilot Mega RC Library
#include <AP_GPS.h> // ArduPilot GPS library #include <AP_GPS.h> // ArduPilot GPS library
#include <I2C.h> // Arduino I2C lib #include <I2C.h> // Arduino I2C lib
#include <SPI.h> // Arduino SPI lib #include <SPI.h> // Arduino SPI lib
#include <SPI3.h> // SPI3 library #include <SPI3.h> // SPI3 library
#include <AP_Semaphore.h> // for removing conflict between optical flow and dataflash on SPI3 bus #include <AP_Semaphore.h> // for removing conflict between optical flow and dataflash on SPI3 bus
#include <DataFlash.h> // ArduPilot Mega Flash Memory Library #include <DataFlash.h> // ArduPilot Mega Flash Memory Library
#include <AP_ADC.h> // ArduPilot Mega Analog to Digital Converter Library #include <AP_ADC.h> // ArduPilot Mega Analog to Digital Converter Library
#include <AP_AnalogSource.h> #include <AP_AnalogSource.h>
#include <AP_Baro.h> #include <AP_Baro.h>
#include <AP_Compass.h> // ArduPilot Mega Magnetometer Library #include <AP_Compass.h> // ArduPilot Mega Magnetometer Library
#include <AP_Math.h> // ArduPilot Mega Vector/Matrix math Library #include <AP_Math.h> // ArduPilot Mega Vector/Matrix math Library
#include <AP_Curve.h> // Curve used to linearlise throttle pwm to thrust #include <AP_Curve.h> // Curve used to linearlise throttle pwm to thrust
#include <AP_InertialSensor.h> // ArduPilot Mega Inertial Sensor (accel & gyro) Library #include <AP_InertialSensor.h> // ArduPilot Mega Inertial Sensor (accel & gyro) Library
#include <AP_PeriodicProcess.h> // Parent header of Timer #include <AP_PeriodicProcess.h> // Parent header of Timer
// (only included for makefile libpath to work) // (only included for makefile libpath to work)
#include <AP_TimerProcess.h> // TimerProcess is the scheduler for MPU6000 reads. #include <AP_TimerProcess.h> // TimerProcess is the scheduler for MPU6000 reads.
#include <AP_AHRS.h> #include <AP_AHRS.h>
#include <APM_PI.h> // PI library #include <APM_PI.h> // PI library
#include <AC_PID.h> // PID library #include <AC_PID.h> // PID library
#include <RC_Channel.h> // RC Channel Library #include <RC_Channel.h> // RC Channel Library
#include <AP_Motors.h> // AP Motors library #include <AP_Motors.h> // AP Motors library
#include <AP_MotorsQuad.h> // AP Motors library for Quad #include <AP_MotorsQuad.h> // AP Motors library for Quad
#include <AP_MotorsTri.h> // AP Motors library for Tri #include <AP_MotorsTri.h> // AP Motors library for Tri
@ -95,16 +95,16 @@
#include <AP_MotorsHeli.h> // AP Motors library for Heli #include <AP_MotorsHeli.h> // AP Motors library for Heli
#include <AP_MotorsMatrix.h> // AP Motors library for Heli #include <AP_MotorsMatrix.h> // AP Motors library for Heli
#include <AP_RangeFinder.h> // Range finder library #include <AP_RangeFinder.h> // Range finder library
#include <AP_OpticalFlow.h> // Optical Flow library #include <AP_OpticalFlow.h> // Optical Flow library
#include <Filter.h> // Filter library #include <Filter.h> // Filter library
#include <AP_Buffer.h> // APM FIFO Buffer #include <AP_Buffer.h> // APM FIFO Buffer
#include <ModeFilter.h> // Mode Filter from Filter library #include <ModeFilter.h> // Mode Filter from Filter library
#include <AverageFilter.h> // Mode Filter from Filter library #include <AverageFilter.h> // Mode Filter from Filter library
#include <AP_LeadFilter.h> // GPS Lead filter #include <AP_LeadFilter.h> // GPS Lead filter
#include <AP_Relay.h> // APM relay #include <AP_Relay.h> // APM relay
#include <AP_Camera.h> // Photo or video camera #include <AP_Camera.h> // Photo or video camera
#include <AP_Mount.h> // Camera/Antenna mount #include <AP_Mount.h> // Camera/Antenna mount
#include <AP_Airspeed.h> // needed for AHRS build #include <AP_Airspeed.h> // needed for AHRS build
#include <AP_InertialNav.h> // ArduPilot Mega inertial navigation library #include <AP_InertialNav.h> // ArduPilot Mega inertial navigation library
#include <ThirdOrderCompFilter.h> // Complementary filter for combining barometer altitude with accelerometers #include <ThirdOrderCompFilter.h> // Complementary filter for combining barometer altitude with accelerometers
#include <memcheck.h> #include <memcheck.h>
@ -114,19 +114,19 @@
#include "config.h" #include "config.h"
#include "config_channels.h" #include "config_channels.h"
#include <GCS_MAVLink.h> // MAVLink GCS definitions #include <GCS_MAVLink.h> // MAVLink GCS definitions
// Local modules // Local modules
#include "Parameters.h" #include "Parameters.h"
#include "GCS.h" #include "GCS.h"
#include <AP_Declination.h> // ArduPilot Mega Declination Helper Library #include <AP_Declination.h> // ArduPilot Mega Declination Helper Library
// Limits library - Puts limits on the vehicle, and takes recovery actions // Limits library - Puts limits on the vehicle, and takes recovery actions
#include <AP_Limits.h> #include <AP_Limits.h>
#include <AP_Limit_GPSLock.h> // a limits library module #include <AP_Limit_GPSLock.h> // a limits library module
#include <AP_Limit_Geofence.h> // a limits library module #include <AP_Limit_Geofence.h> // a limits library module
#include <AP_Limit_Altitude.h> // a limits library module #include <AP_Limit_Altitude.h> // a limits library module
//////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////
@ -189,10 +189,10 @@ DataFlash_APM1 DataFlash(&spi_semaphore);
// //
// There are three basic options related to flight sensor selection. // There are three basic options related to flight sensor selection.
// //
// - Normal flight mode. Real sensors are used. // - Normal flight mode. Real sensors are used.
// - HIL Attitude mode. Most sensors are disabled, as the HIL // - HIL Attitude mode. Most sensors are disabled, as the HIL
// protocol supplies attitude information directly. // protocol supplies attitude information directly.
// - HIL Sensors mode. Synthetic sensors are configured that // - HIL Sensors mode. Synthetic sensors are configured that
// supply data from the simulation. // supply data from the simulation.
// //
@ -288,23 +288,24 @@ AP_AHRS_MPU6000 ahrs2(&ins, g_gps); // only works with APM2
#elif HIL_MODE == HIL_MODE_SENSORS #elif HIL_MODE == HIL_MODE_SENSORS
// sensor emulators // sensor emulators
AP_ADC_HIL adc; AP_ADC_HIL adc;
AP_Baro_BMP085_HIL barometer; AP_Baro_BMP085_HIL barometer;
AP_Compass_HIL compass; AP_Compass_HIL compass;
AP_GPS_HIL g_gps_driver(NULL); AP_GPS_HIL g_gps_driver(NULL);
AP_InertialSensor_Stub ins; AP_InertialSensor_Stub ins;
AP_AHRS_DCM ahrs(&ins, g_gps); AP_AHRS_DCM ahrs(&ins, g_gps);
static int32_t gps_base_alt; static int32_t gps_base_alt;
#elif HIL_MODE == HIL_MODE_ATTITUDE #elif HIL_MODE == HIL_MODE_ATTITUDE
AP_ADC_HIL adc; AP_ADC_HIL adc;
AP_InertialSensor_Stub ins; AP_InertialSensor_Stub ins;
AP_AHRS_HIL ahrs(&ins, g_gps); AP_AHRS_HIL ahrs(&ins, g_gps);
AP_GPS_HIL g_gps_driver(NULL); AP_GPS_HIL g_gps_driver(NULL);
AP_Compass_HIL compass; // never used AP_Compass_HIL compass; // never used
AP_Baro_BMP085_HIL barometer; AP_Baro_BMP085_HIL barometer;
#ifdef OPTFLOW_ENABLED #ifdef OPTFLOW_ENABLED
#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2 #if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
AP_OpticalFlow_ADNS3080 optflow(OPTFLOW_CS_PIN); AP_OpticalFlow_ADNS3080 optflow(OPTFLOW_CS_PIN);
@ -407,34 +408,34 @@ static byte oldSwitchPosition;
// This was added to try and deal with biger motors // This was added to try and deal with biger motors
//static int16_t motor_filtered[11]; //static int16_t motor_filtered[11];
#if FRAME_CONFIG == QUAD_FRAME #if FRAME_CONFIG == QUAD_FRAME
#define MOTOR_CLASS AP_MotorsQuad #define MOTOR_CLASS AP_MotorsQuad
#endif #endif
#if FRAME_CONFIG == TRI_FRAME #if FRAME_CONFIG == TRI_FRAME
#define MOTOR_CLASS AP_MotorsTri #define MOTOR_CLASS AP_MotorsTri
#endif #endif
#if FRAME_CONFIG == HEXA_FRAME #if FRAME_CONFIG == HEXA_FRAME
#define MOTOR_CLASS AP_MotorsHexa #define MOTOR_CLASS AP_MotorsHexa
#endif #endif
#if FRAME_CONFIG == Y6_FRAME #if FRAME_CONFIG == Y6_FRAME
#define MOTOR_CLASS AP_MotorsY6 #define MOTOR_CLASS AP_MotorsY6
#endif #endif
#if FRAME_CONFIG == OCTA_FRAME #if FRAME_CONFIG == OCTA_FRAME
#define MOTOR_CLASS AP_MotorsOcta #define MOTOR_CLASS AP_MotorsOcta
#endif #endif
#if FRAME_CONFIG == OCTA_QUAD_FRAME #if FRAME_CONFIG == OCTA_QUAD_FRAME
#define MOTOR_CLASS AP_MotorsOctaQuad #define MOTOR_CLASS AP_MotorsOctaQuad
#endif #endif
#if FRAME_CONFIG == HELI_FRAME #if FRAME_CONFIG == HELI_FRAME
#define MOTOR_CLASS AP_MotorsHeli #define MOTOR_CLASS AP_MotorsHeli
#endif #endif
#if FRAME_CONFIG == HELI_FRAME // helicopter constructor requires more arguments #if FRAME_CONFIG == HELI_FRAME // helicopter constructor requires more arguments
MOTOR_CLASS motors(CONFIG_APM_HARDWARE, &APM_RC, &g.rc_1, &g.rc_2, &g.rc_3, &g.rc_4, &g.rc_8, &g.heli_servo_1, &g.heli_servo_2, &g.heli_servo_3, &g.heli_servo_4); MOTOR_CLASS motors(CONFIG_APM_HARDWARE, &APM_RC, &g.rc_1, &g.rc_2, &g.rc_3, &g.rc_4, &g.rc_8, &g.heli_servo_1, &g.heli_servo_2, &g.heli_servo_3, &g.heli_servo_4);
#elif FRAME_CONFIG == TRI_FRAME // tri constructor requires additional rc_7 argument to allow tail servo reversing #elif FRAME_CONFIG == TRI_FRAME // tri constructor requires additional rc_7 argument to allow tail servo reversing
MOTOR_CLASS motors(CONFIG_APM_HARDWARE, &APM_RC, &g.rc_1, &g.rc_2, &g.rc_3, &g.rc_4, &g.rc_7); MOTOR_CLASS motors(CONFIG_APM_HARDWARE, &APM_RC, &g.rc_1, &g.rc_2, &g.rc_3, &g.rc_4, &g.rc_7);
#else #else
MOTOR_CLASS motors(CONFIG_APM_HARDWARE, &APM_RC, &g.rc_1, &g.rc_2, &g.rc_3, &g.rc_4); MOTOR_CLASS motors(CONFIG_APM_HARDWARE, &APM_RC, &g.rc_1, &g.rc_2, &g.rc_3, &g.rc_4);
#endif #endif
//////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////
@ -492,22 +493,22 @@ static int8_t copter_leds_nav_blink = 0;
// This is used to scale GPS values for EEPROM storage // This is used to scale GPS values for EEPROM storage
// 10^7 times Decimal GPS means 1 == 1cm // 10^7 times Decimal GPS means 1 == 1cm
// This approximation makes calculations integer and it's easy to read // This approximation makes calculations integer and it's easy to read
static const float t7 = 10000000.0; static const float t7 = 10000000.0;
// We use atan2 and other trig techniques to calaculate angles // We use atan2 and other trig techniques to calaculate angles
// We need to scale the longitude up to make these calcs work // We need to scale the longitude up to make these calcs work
// to account for decreasing distance between lines of longitude away from the equator // to account for decreasing distance between lines of longitude away from the equator
static float scaleLongUp = 1; static float scaleLongUp = 1;
// Sometimes we need to remove the scaling for distance calcs // Sometimes we need to remove the scaling for distance calcs
static float scaleLongDown = 1; static float scaleLongDown = 1;
//////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////
// Mavlink specific // Mavlink specific
//////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////
// Used by Mavlink for unknow reasons // Used by Mavlink for unknow reasons
static const float radius_of_earth = 6378100; // meters static const float radius_of_earth = 6378100; // meters
// Used by Mavlink for unknow reasons // Used by Mavlink for unknow reasons
static const float gravity = 9.80665; // meters/ sec^2 static const float gravity = 9.80665; // meters/ sec^2
// Unions for getting byte values // Unions for getting byte values
union float_int { union float_int {
@ -932,15 +933,10 @@ AP_Mount camera_mount2(&current_loc, g_gps, &ahrs, 1);
// Experimental AP_Limits library - set constraints, limits, fences, minima, maxima on various parameters // Experimental AP_Limits library - set constraints, limits, fences, minima, maxima on various parameters
//////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////
#ifdef AP_LIMITS #ifdef AP_LIMITS
AP_Limits limits;
AP_Limits limits;
AP_Limit_GPSLock gpslock_limit(g_gps); AP_Limit_GPSLock gpslock_limit(g_gps);
AP_Limit_Geofence geofence_limit(FENCE_START_BYTE, FENCE_WP_SIZE, MAX_FENCEPOINTS, g_gps, &home, &current_loc); AP_Limit_Geofence geofence_limit(FENCE_START_BYTE, FENCE_WP_SIZE, MAX_FENCEPOINTS, g_gps, &home, &current_loc);
AP_Limit_Altitude altitude_limit(&current_loc); AP_Limit_Altitude altitude_limit(&current_loc);
#endif #endif
//////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////