From e24c5349c84212997d4d7f84a3102f96cb4849b5 Mon Sep 17 00:00:00 2001
From: Lucas De Marchi <lucas.demarchi@intel.com>
Date: Sun, 24 May 2015 19:59:16 -0300
Subject: [PATCH] APMrover2: cleanup in tabs and trailing whitespace
While doing other changes, fix the coding style of this file so the
commits are more readable.
---
APMrover2/APMrover2.cpp | 84 ++++++++++++++++++++---------------------
1 file changed, 42 insertions(+), 42 deletions(-)
diff --git a/APMrover2/APMrover2.cpp b/APMrover2/APMrover2.cpp
index b7bf1aa6fa..fd4493aada 100644
--- a/APMrover2/APMrover2.cpp
+++ b/APMrover2/APMrover2.cpp
@@ -15,7 +15,7 @@
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
-/*
+/*
This is the APMrover2 firmware. It was originally derived from
ArduPlane by Jean-Louis Naudin (JLN), and then rewritten after the
AP_HAL merge by Andrew Tridgell
@@ -26,7 +26,7 @@
Thanks to: Chris Anderson, Michael Oborne, Paul Mather, Bill Premerlani, James Cohen, JB from rotorFX, Automatik, Fefenin, Peter Meister, Remzibi, Yury Smirnov, Sandro Benigno, Max Levine, Roberto Navoni, Lorenz Meier
- APMrover alpha version tester: Franco Borasio, Daniel Chapelat...
+ APMrover alpha version tester: Franco Borasio, Daniel Chapelat...
Please contribute your ideas! See http://dev.ardupilot.com for details
*/
@@ -48,7 +48,7 @@ Rover rover;
time they are expected to take (in microseconds)
*/
const AP_Scheduler::Task Rover::scheduler_tasks[] PROGMEM = {
- { SCHED_TASK(read_radio), 1, 1000 },
+ { SCHED_TASK(read_radio), 1, 1000 },
{ SCHED_TASK(ahrs_update), 1, 6400 },
{ SCHED_TASK(read_sonars), 1, 2000 },
{ SCHED_TASK(update_current_mode), 1, 1500 },
@@ -118,12 +118,12 @@ void Rover::loop()
uint32_t timer = hal.scheduler->micros();
- delta_us_fast_loop = timer - fast_loopTimer_us;
+ delta_us_fast_loop = timer - fast_loopTimer_us;
G_Dt = delta_us_fast_loop * 1.0e-6f;
fast_loopTimer_us = timer;
- if (delta_us_fast_loop > G_Dt_max)
- G_Dt_max = delta_us_fast_loop;
+ if (delta_us_fast_loop > G_Dt_max)
+ G_Dt_max = delta_us_fast_loop;
mainLoop_count++;
@@ -169,7 +169,7 @@ void Rover::ahrs_update()
void Rover::mount_update(void)
{
#if MOUNT == ENABLED
- camera_mount.update();
+ camera_mount.update();
#endif
#if CAMERA == ENABLED
camera.trigger_pic_cleanup();
@@ -189,7 +189,7 @@ void Rover::update_alt()
*/
void Rover::gcs_failsafe_check(void)
{
- if (g.fs_gcs_enabled) {
+ if (g.fs_gcs_enabled) {
failsafe_trigger(FAILSAFE_EVENT_GCS, last_heartbeat_ms != 0 && (millis() - last_heartbeat_ms) > 2000);
}
}
@@ -201,7 +201,7 @@ void Rover::compass_accumulate(void)
{
if (g.compass_enabled) {
compass.accumulate();
- }
+ }
}
/*
@@ -228,7 +228,7 @@ void Rover::update_logging1(void)
{
if (should_log(MASK_LOG_ATTITUDE_MED) && !should_log(MASK_LOG_ATTITUDE_FAST))
Log_Write_Attitude();
-
+
if (should_log(MASK_LOG_CTUN))
Log_Write_Control_Tuning();
@@ -265,10 +265,10 @@ void Rover::update_aux(void)
*/
void Rover::one_second_loop(void)
{
- if (should_log(MASK_LOG_CURRENT))
- Log_Write_Current();
- // send a heartbeat
- gcs_send_message(MSG_HEARTBEAT);
+ if (should_log(MASK_LOG_CURRENT))
+ Log_Write_Current();
+ // send a heartbeat
+ gcs_send_message(MSG_HEARTBEAT);
// allow orientation change at runtime to aid config
ahrs.set_orientation();
@@ -297,7 +297,7 @@ void Rover::one_second_loop(void)
}
// save compass offsets once a minute
- if (counter >= 60) {
+ if (counter >= 60) {
if (g.compass_enabled) {
compass.save_offsets();
}
@@ -308,9 +308,9 @@ void Rover::one_second_loop(void)
}
void Rover::update_GPS_50Hz(void)
-{
+{
static uint32_t last_gps_reading[GPS_MAX_INSTANCES];
- gps.update();
+ gps.update();
for (uint8_t i=0; i<gps.num_sensors(); i++) {
if (gps.last_message_time_ms(i) != last_gps_reading[i]) {
@@ -324,33 +324,33 @@ void Rover::update_GPS_50Hz(void)
void Rover::update_GPS_10Hz(void)
-{
+{
have_position = ahrs.get_position(current_loc);
- if (have_position && gps.status() >= AP_GPS::GPS_OK_FIX_3D) {
+ if (have_position && gps.status() >= AP_GPS::GPS_OK_FIX_3D) {
- if (ground_start_count > 1){
- ground_start_count--;
+ if (ground_start_count > 1){
+ ground_start_count--;
- } else if (ground_start_count == 1) {
- // We countdown N number of good GPS fixes
- // so that the altitude is more accurate
- // -------------------------------------
- if (current_loc.lat == 0) {
- ground_start_count = 20;
- } else {
+ } else if (ground_start_count == 1) {
+ // We countdown N number of good GPS fixes
+ // so that the altitude is more accurate
+ // -------------------------------------
+ if (current_loc.lat == 0) {
+ ground_start_count = 20;
+ } else {
init_home();
// set system clock for log timestamps
hal.util->set_system_clock(gps.time_epoch_usec());
- if (g.compass_enabled) {
- // Set compass declination automatically
- compass.set_initial_location(gps.location().lat, gps.location().lng);
- }
- ground_start_count = 0;
- }
- }
+ if (g.compass_enabled) {
+ // Set compass declination automatically
+ compass.set_initial_location(gps.location().lat, gps.location().lng);
+ }
+ ground_start_count = 0;
+ }
+ }
Vector3f velocity;
if (ahrs.get_velocity_NED(velocity)) {
ground_speed = pythagorous2(velocity.x, velocity.y);
@@ -362,12 +362,12 @@ void Rover::update_GPS_10Hz(void)
if (camera.update_location(current_loc) == true) {
do_take_picture();
}
-#endif
- }
+#endif
+ }
}
void Rover::update_current_mode(void)
-{
+{
switch (control_mode){
case AUTO:
case RTL:
@@ -447,7 +447,7 @@ void Rover::update_current_mode(void)
case INITIALISING:
break;
- }
+ }
}
void Rover::update_navigation()
@@ -461,14 +461,14 @@ void Rover::update_navigation()
break;
case AUTO:
- mission.update();
+ mission.update();
break;
case RTL:
// no loitering around the wp with the rover, goes direct to the wp position
calc_lateral_acceleration();
calc_nav_steer();
- if (verify_RTL()) {
+ if (verify_RTL()) {
channel_throttle->servo_out = g.throttle_min.get();
set_mode(HOLD);
}
@@ -487,7 +487,7 @@ void Rover::update_navigation()
}
}
break;
- }
+ }
}
void setup(void);