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APMrover2: cleanup in tabs and trailing whitespace

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While doing other changes, fix the coding style of this file so the
commits are more readable.
This commit is contained in:
Lucas De Marchi 2015-05-24 19:59:16 -03:00 committed by Andrew Tridgell
parent 9f0af5b9cb
commit e24c5349c8
1 changed files with 42 additions and 42 deletions
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84
APMrover2/APMrover2.cpp
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@ -15,7 +15,7 @@
along with this program. If not, see <http://www.gnu.org/licenses/>. along with this program. If not, see <http://www.gnu.org/licenses/>.
*/ */
/* /*
This is the APMrover2 firmware. It was originally derived from This is the APMrover2 firmware. It was originally derived from
ArduPlane by Jean-Louis Naudin (JLN), and then rewritten after the ArduPlane by Jean-Louis Naudin (JLN), and then rewritten after the
AP_HAL merge by Andrew Tridgell 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 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 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) time they are expected to take (in microseconds)
*/ */
const AP_Scheduler::Task Rover::scheduler_tasks[] PROGMEM = { 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(ahrs_update), 1, 6400 },
{ SCHED_TASK(read_sonars), 1, 2000 }, { SCHED_TASK(read_sonars), 1, 2000 },
{ SCHED_TASK(update_current_mode), 1, 1500 }, { SCHED_TASK(update_current_mode), 1, 1500 },
@ -118,12 +118,12 @@ void Rover::loop()
uint32_t timer = hal.scheduler->micros(); 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; G_Dt = delta_us_fast_loop * 1.0e-6f;
fast_loopTimer_us = timer; fast_loopTimer_us = timer;
if (delta_us_fast_loop > G_Dt_max) if (delta_us_fast_loop > G_Dt_max)
G_Dt_max = delta_us_fast_loop; G_Dt_max = delta_us_fast_loop;
mainLoop_count++; mainLoop_count++;
@ -169,7 +169,7 @@ void Rover::ahrs_update()
void Rover::mount_update(void) void Rover::mount_update(void)
{ {
#if MOUNT == ENABLED #if MOUNT == ENABLED
camera_mount.update(); camera_mount.update();
#endif #endif
#if CAMERA == ENABLED #if CAMERA == ENABLED
camera.trigger_pic_cleanup(); camera.trigger_pic_cleanup();
@ -189,7 +189,7 @@ void Rover::update_alt()
*/ */
void Rover::gcs_failsafe_check(void) 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); 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) { if (g.compass_enabled) {
compass.accumulate(); compass.accumulate();
} }
} }
/* /*
@ -228,7 +228,7 @@ void Rover::update_logging1(void)
{ {
if (should_log(MASK_LOG_ATTITUDE_MED) && !should_log(MASK_LOG_ATTITUDE_FAST)) if (should_log(MASK_LOG_ATTITUDE_MED) && !should_log(MASK_LOG_ATTITUDE_FAST))
Log_Write_Attitude(); Log_Write_Attitude();
if (should_log(MASK_LOG_CTUN)) if (should_log(MASK_LOG_CTUN))
Log_Write_Control_Tuning(); Log_Write_Control_Tuning();
@ -265,10 +265,10 @@ void Rover::update_aux(void)
*/ */
void Rover::one_second_loop(void) void Rover::one_second_loop(void)
{ {
if (should_log(MASK_LOG_CURRENT)) if (should_log(MASK_LOG_CURRENT))
Log_Write_Current(); Log_Write_Current();
// send a heartbeat // send a heartbeat
gcs_send_message(MSG_HEARTBEAT); gcs_send_message(MSG_HEARTBEAT);
// allow orientation change at runtime to aid config // allow orientation change at runtime to aid config
ahrs.set_orientation(); ahrs.set_orientation();
@ -297,7 +297,7 @@ void Rover::one_second_loop(void)
} }
// save compass offsets once a minute // save compass offsets once a minute
if (counter >= 60) { if (counter >= 60) {
if (g.compass_enabled) { if (g.compass_enabled) {
compass.save_offsets(); compass.save_offsets();
} }
@ -308,9 +308,9 @@ void Rover::one_second_loop(void)
} }
void Rover::update_GPS_50Hz(void) void Rover::update_GPS_50Hz(void)
{ {
static uint32_t last_gps_reading[GPS_MAX_INSTANCES]; static uint32_t last_gps_reading[GPS_MAX_INSTANCES];
gps.update(); gps.update();
for (uint8_t i=0; i<gps.num_sensors(); i++) { for (uint8_t i=0; i<gps.num_sensors(); i++) {
if (gps.last_message_time_ms(i) != last_gps_reading[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) void Rover::update_GPS_10Hz(void)
{ {
have_position = ahrs.get_position(current_loc); 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){ if (ground_start_count > 1){
ground_start_count--; ground_start_count--;
} else if (ground_start_count == 1) { } else if (ground_start_count == 1) {
// We countdown N number of good GPS fixes // We countdown N number of good GPS fixes
// so that the altitude is more accurate // so that the altitude is more accurate
// ------------------------------------- // -------------------------------------
if (current_loc.lat == 0) { if (current_loc.lat == 0) {
ground_start_count = 20; ground_start_count = 20;
} else { } else {
init_home(); init_home();
// set system clock for log timestamps // set system clock for log timestamps
hal.util->set_system_clock(gps.time_epoch_usec()); hal.util->set_system_clock(gps.time_epoch_usec());
if (g.compass_enabled) { if (g.compass_enabled) {
// Set compass declination automatically // Set compass declination automatically
compass.set_initial_location(gps.location().lat, gps.location().lng); compass.set_initial_location(gps.location().lat, gps.location().lng);
} }
ground_start_count = 0; ground_start_count = 0;
} }
} }
Vector3f velocity; Vector3f velocity;
if (ahrs.get_velocity_NED(velocity)) { if (ahrs.get_velocity_NED(velocity)) {
ground_speed = pythagorous2(velocity.x, velocity.y); ground_speed = pythagorous2(velocity.x, velocity.y);
@ -362,12 +362,12 @@ void Rover::update_GPS_10Hz(void)
if (camera.update_location(current_loc) == true) { if (camera.update_location(current_loc) == true) {
do_take_picture(); do_take_picture();
} }
#endif #endif
} }
} }
void Rover::update_current_mode(void) void Rover::update_current_mode(void)
{ {
switch (control_mode){ switch (control_mode){
case AUTO: case AUTO:
case RTL: case RTL:
@ -447,7 +447,7 @@ void Rover::update_current_mode(void)
case INITIALISING: case INITIALISING:
break; break;
} }
} }
void Rover::update_navigation() void Rover::update_navigation()
@ -461,14 +461,14 @@ void Rover::update_navigation()
break; break;
case AUTO: case AUTO:
mission.update(); mission.update();
break; break;
case RTL: case RTL:
// no loitering around the wp with the rover, goes direct to the wp position // no loitering around the wp with the rover, goes direct to the wp position
calc_lateral_acceleration(); calc_lateral_acceleration();
calc_nav_steer(); calc_nav_steer();
if (verify_RTL()) { if (verify_RTL()) {
channel_throttle->servo_out = g.throttle_min.get(); channel_throttle->servo_out = g.throttle_min.get();
set_mode(HOLD); set_mode(HOLD);
} }
@ -487,7 +487,7 @@ void Rover::update_navigation()
} }
} }
break; break;
} }
} }
void setup(void); void setup(void);