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https://github.com/ArduPilot/ardupilot
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uncrustify ArduPlane/Attitude.pde
This commit is contained in:
uncrustify
Pat Hickey
parent
ce04d62815
commit
e5ac3bdc65
@ -20,7 +20,7 @@ static void stabilize()
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}
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speed_scaler = constrain(speed_scaler, 0.5, 2.0);
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} else {
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if (g.channel_throttle.servo_out > 0){
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if (g.channel_throttle.servo_out > 0) {
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speed_scaler = 0.5 + ((float)THROTTLE_CRUISE / g.channel_throttle.servo_out / 2.0); // First order taylor expansion of square root
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// Should maybe be to the 2/7 power, but we aren't goint to implement that...
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}else{
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@ -29,7 +29,7 @@ static void stabilize()
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speed_scaler = constrain(speed_scaler, 0.6, 1.67); // This case is constrained tighter as we don't have real speed info
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}
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if(crash_timer > 0){
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if(crash_timer > 0) {
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nav_roll_cd = 0;
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}
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@ -122,7 +122,7 @@ static void stabilize()
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static void crash_checker()
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{
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if(ahrs.pitch_sensor < -4500){
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if(ahrs.pitch_sensor < -4500) {
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crash_timer = 255;
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}
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if(crash_timer > 0)
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@ -165,8 +165,8 @@ static void calc_throttle()
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}
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/*****************************************
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* Calculate desired roll/pitch/yaw angles (in medium freq loop)
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*****************************************/
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* Calculate desired roll/pitch/yaw angles (in medium freq loop)
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*****************************************/
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// Yaw is separated into a function for future implementation of heading hold on rolling take-off
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// ----------------------------------------------------------------------------------------
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@ -239,20 +239,20 @@ static void calc_nav_roll()
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/*****************************************
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* Roll servo slew limit
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*****************************************/
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* Roll servo slew limit
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*****************************************/
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/*
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float roll_slew_limit(float servo)
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{
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static float last;
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float temp = constrain(servo, last-ROLL_SLEW_LIMIT * delta_ms_fast_loop/1000.f, last + ROLL_SLEW_LIMIT * delta_ms_fast_loop/1000.f);
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last = servo;
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return temp;
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}*/
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* float roll_slew_limit(float servo)
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* {
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* static float last;
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* float temp = constrain(servo, last-ROLL_SLEW_LIMIT * delta_ms_fast_loop/1000.f, last + ROLL_SLEW_LIMIT * delta_ms_fast_loop/1000.f);
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* last = servo;
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* return temp;
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* }*/
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/*****************************************
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* Throttle slew limit
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*****************************************/
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* Throttle slew limit
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*****************************************/
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static void throttle_slew_limit()
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{
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static int16_t last = 1000;
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@ -295,9 +295,9 @@ static void set_servos(void)
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rc_array[CH_7] = &g.rc_7;
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rc_array[CH_8] = &g.rc_8;
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if(control_mode == MANUAL){
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if(control_mode == MANUAL) {
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// do a direct pass through of radio values
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if (g.mix_mode == 0){
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if (g.mix_mode == 0) {
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g.channel_roll.radio_out = g.channel_roll.radio_in;
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g.channel_pitch.radio_out = g.channel_pitch.radio_in;
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} else {
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@ -341,39 +341,39 @@ static void set_servos(void)
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}
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g.channel_rudder.calc_pwm();
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#if THROTTLE_OUT == 0
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#if THROTTLE_OUT == 0
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g.channel_throttle.servo_out = 0;
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#else
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#else
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// convert 0 to 100% into PWM
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g.channel_throttle.servo_out = constrain(g.channel_throttle.servo_out, g.throttle_min.get(), g.throttle_max.get());
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// We want to supress the throttle if we think we are on the ground and in an autopilot controlled throttle mode.
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/* Disable throttle if following conditions are met:
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1 - We are in Circle mode (which we use for short term failsafe), or in FBW-B or higher
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AND
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2 - Our reported altitude is within 10 meters of the home altitude.
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3 - Our reported speed is under 5 meters per second.
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4 - We are not performing a takeoff in Auto mode
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OR
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5 - Home location is not set
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* 1 - We are in Circle mode (which we use for short term failsafe), or in FBW-B or higher
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* AND
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* 2 - Our reported altitude is within 10 meters of the home altitude.
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* 3 - Our reported speed is under 5 meters per second.
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* 4 - We are not performing a takeoff in Auto mode
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* OR
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* 5 - Home location is not set
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*/
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if (
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(control_mode == CIRCLE || control_mode >= FLY_BY_WIRE_B) &&
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(labs(home.alt - current_loc.alt) < 1000) &&
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((airspeed.use()? airspeed.get_airspeed_cm() : g_gps->ground_speed) < 500 ) &&
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((airspeed.use() ? airspeed.get_airspeed_cm() : g_gps->ground_speed) < 500 ) &&
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!(control_mode==AUTO && takeoff_complete == false)
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) {
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g.channel_throttle.servo_out = 0;
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g.channel_throttle.calc_pwm();
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}
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#endif
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#endif
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g.channel_throttle.calc_pwm();
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if (control_mode >= FLY_BY_WIRE_B) {
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/* only do throttle slew limiting in modes where throttle
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control is automatic */
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* control is automatic */
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throttle_slew_limit();
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}
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}
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@ -419,17 +419,17 @@ static void set_servos(void)
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g.rc_6.output_ch(CH_6);
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g.rc_7.output_ch(CH_7);
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g.rc_8.output_ch(CH_8);
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# if CONFIG_APM_HARDWARE != APM_HARDWARE_APM1
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# if CONFIG_APM_HARDWARE != APM_HARDWARE_APM1
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g.rc_9.output_ch(CH_9);
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g.rc_10.output_ch(CH_10);
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g.rc_11.output_ch(CH_11);
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# endif
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# endif
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#endif
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}
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static void demo_servos(byte i) {
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while(i > 0){
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while(i > 0) {
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gcs_send_text_P(SEVERITY_LOW,PSTR("Demo Servos!"));
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#if HIL_MODE == HIL_MODE_DISABLED || HIL_SERVOS
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APM_RC.OutputCh(1, 1400);
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