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SITL: remove trailing whitespace

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This commit is contained in:
Caio Marcelo de Oliveira Filho 2015-10-22 11:15:20 -02:00
parent 49a42dc985
commit f0a20cdc7c
12 changed files with 46 additions and 46 deletions
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6
libraries/SITL/SIM_Aircraft.cpp
View File

@ -152,9 +152,9 @@ void Aircraft::adjust_frame_time(float new_rate)
}
}
/*
/*
try to synchronise simulation time with wall clock time, taking
into account desired speedup
into account desired speedup
This tries to take account of possible granularity of
get_wall_time_us() so it works reasonably well on windows
*/
@ -173,7 +173,7 @@ void Aircraft::sync_frame_time(void)
}
#if 0
::printf("achieved_rate_hz=%.3f rate=%.2f rate_hz=%.3f sft=%.1f\n",
(double)achieved_rate_hz,
(double)achieved_rate_hz,
(double)rate,
(double)rate_hz,
(double)scaled_frame_time_us);

2
libraries/SITL/SIM_CRRCSim.cpp
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@ -59,7 +59,7 @@ void CRRCSim::send_servos_heli(const struct sitl_input &input)
float roll_rate = (swash1 - swash2)/2;
float pitch_rate = -((swash1 + swash2)/2.0 - swash3)/2;
float yaw_rate = -(tail_rotor - 0.5);
servo_packet pkt;
pkt.roll_rate = constrain_float(roll_rate, -0.5, 0.5);
pkt.pitch_rate = constrain_float(pitch_rate, -0.5, 0.5);

2
libraries/SITL/SIM_CRRCSim.h
View File

@ -52,7 +52,7 @@ private:
float yaw_rate;
float col_pitch;
};
/*
reply packet sent from CRRCSim to ArduPilot
*/

2
libraries/SITL/SIM_Gazebo.h
View File

@ -48,7 +48,7 @@ private:
struct servo_packet {
float motor_speed[4];
};
/*
reply packet sent from Gazebo to ArduPilot
*/

20
libraries/SITL/SIM_Gimbal.cpp
View File

@ -57,8 +57,8 @@ void Gimbal::update(void)
Matrix3f vehicle_dcm;
vehicle_dcm.from_euler(radians(fdm.rollDeg), radians(fdm.pitchDeg), radians(fdm.yawDeg));
Vector3f vehicle_gyro = Vector3f(radians(fdm.rollRate),
radians(fdm.pitchRate),
Vector3f vehicle_gyro = Vector3f(radians(fdm.rollRate),
radians(fdm.pitchRate),
radians(fdm.yawRate));
Vector3f vehicle_accel_body = Vector3f(fdm.xAccel, fdm.yAccel, fdm.zAccel);
@ -79,7 +79,7 @@ void Gimbal::update(void)
Matrix3f rotmat_copter_gimbal = dcm.transposed() * vehicle_dcm;
joint_angles = rotmat_copter_gimbal.transposed().to_euler312();
/* 4) For each of the three joints, calculate upper and lower rate limits
from the corresponding angle limits and current joint angles
@ -145,7 +145,7 @@ void Gimbal::update(void)
// in an inertial frame of reference
// demandedGimbalRatesInertial(X,Y,Z) = relativeGimbalRate(X,Y,Z) + copterAngRate_G
// Vector3f demandedGimbalRatesInertial = relativeGimbalRate + copterAngRate_G;
// for the moment we will set gyros equal to demanded_angular_rate
gimbal_angular_rate = demRateRaw; // demandedGimbalRatesInertial + true_gyro_bias - supplied_gyro_bias
@ -198,7 +198,7 @@ void Gimbal::send_report(void)
mavlink_message_t msg;
mavlink_status_t status;
if (mavlink_frame_char_buffer(&mavlink.rxmsg, &mavlink.status,
buf[i],
buf[i],
&msg, &status) == MAVLINK_FRAMING_OK) {
switch (msg.msgid) {
case MAVLINK_MSG_ID_HEARTBEAT: {
@ -249,8 +249,8 @@ void Gimbal::send_report(void)
mavlink_status_t *chan0_status = mavlink_get_channel_status(MAVLINK_COMM_0);
uint8_t saved_seq = chan0_status->current_tx_seq;
chan0_status->current_tx_seq = mavlink.seq;
len = mavlink_msg_heartbeat_encode(vehicle_system_id,
vehicle_component_id,
len = mavlink_msg_heartbeat_encode(vehicle_system_id,
vehicle_component_id,
&msg, &heartbeat);
chan0_status->current_tx_seq = saved_seq;
@ -282,13 +282,13 @@ void Gimbal::send_report(void)
mavlink_status_t *chan0_status = mavlink_get_channel_status(MAVLINK_COMM_0);
uint8_t saved_seq = chan0_status->current_tx_seq;
chan0_status->current_tx_seq = mavlink.seq;
len = mavlink_msg_gimbal_report_encode(vehicle_system_id,
vehicle_component_id,
len = mavlink_msg_gimbal_report_encode(vehicle_system_id,
vehicle_component_id,
&msg, &gimbal_report);
chan0_status->current_tx_seq = saved_seq;
mav_socket.send(&msg.magic, len);
delta_velocity.zero();
delta_angle.zero();
}

2
libraries/SITL/SIM_Gimbal.h
View File

@ -71,7 +71,7 @@ private:
// reporting period in ms
const float reporting_period_ms;
// integral of gyro vector over last time interval. In radians
Vector3f delta_angle;

8
libraries/SITL/SIM_Helicopter.cpp
View File

@ -87,14 +87,14 @@ void Helicopter::update(const struct sitl_input &input)
// simulate a traditional helicopter
float tail_rotor = (input.servos[3]-1000) / 1000.0f;
thrust = (rsc/rsc_setpoint) * (swash1+swash2+swash3) / 3.0f;
torque_effect_accel = (rsc_scale+thrust) * rotor_rot_accel;
roll_rate = swash1 - swash2;
pitch_rate = (swash1+swash2) / 2.0f - swash3;
yaw_rate = tail_rotor - 0.5f;
lateral_y_thrust = yaw_rate * rsc_scale * tail_thrust_scale;
break;
}
@ -105,7 +105,7 @@ void Helicopter::update(const struct sitl_input &input)
float swash4 = (input.servos[3]-1000) / 1000.0f;
float swash5 = (input.servos[4]-1000) / 1000.0f;
float swash6 = (input.servos[5]-1000) / 1000.0f;
thrust = (rsc / rsc_setpoint) * (swash1+swash2+swash3+swash4+swash5+swash6) / 6.0f;
torque_effect_accel = (rsc_scale + rsc / rsc_setpoint) * rotor_rot_accel * ((swash1+swash2+swash3) - (swash4+swash5+swash6));
@ -120,7 +120,7 @@ void Helicopter::update(const struct sitl_input &input)
float right_rotor = (input.servos[3]-1000) / 1000.0f;
float left_rotor = (input.servos[4]-1000) / 1000.0f;
thrust = (rsc/rsc_setpoint) * (swash1+swash2+swash3) / 3.0f;
torque_effect_accel = (rsc_scale+thrust) * rotor_rot_accel;

20
libraries/SITL/SIM_JSBSim.cpp
View File

@ -122,7 +122,7 @@ bool JSBSim::create_templates(void)
if (f == NULL) {
hal.scheduler->panic("Unable to create jsbsim fgout script");
}
fprintf(f, "<?xml version=\"1.0\"?>\n"
fprintf(f, "<?xml version=\"1.0\"?>\n"
"<output name=\"127.0.0.1\" type=\"FLIGHTGEAR\" port=\"%u\" protocol=\"udp\" rate=\"1000\"/>\n",
fdm_port);
fclose(f);
@ -135,7 +135,7 @@ bool JSBSim::create_templates(void)
}
float r, p, y;
dcm.to_euler(&r, &p, &y);
fprintf(f,
fprintf(f,
"<?xml version=\"1.0\"?>\n"
"<initialize name=\"Start up location\">\n"
" <latitude unit=\"DEG\"> %f </latitude>\n"
@ -172,7 +172,7 @@ bool JSBSim::start_JSBSim(void)
int p[2];
int devnull = open("/dev/null", O_RDWR);
if (pipe(p) != 0) {
hal.scheduler->panic("Unable to create pipe");
hal.scheduler->panic("Unable to create pipe");
}
pid_t child_pid = fork();
if (child_pid == 0) {
@ -194,8 +194,8 @@ bool JSBSim::start_JSBSim(void)
exit(1);
}
int ret = execlp("JSBSim",
"JSBSim",
int ret = execlp("JSBSim",
"JSBSim",
"--realtime",
"--suspend",
"--nice",
@ -218,7 +218,7 @@ bool JSBSim::start_JSBSim(void)
}
if (!expect("JSBSim Execution beginning")) {
hal.scheduler->panic("Failed to start JSBSim");
hal.scheduler->panic("Failed to start JSBSim");
}
if (!open_control_socket()) {
hal.scheduler->panic("Failed to open JSBSim control socket");
@ -252,7 +252,7 @@ bool JSBSim::expect(const char *str)
{
const char *basestr = str;
while (*str) {
char c;
char c;
if (read(jsbsim_stdout, &c, 1) != 1) {
return false;
}
@ -283,7 +283,7 @@ bool JSBSim::open_control_socket(void)
sock_control.set_blocking(false);
opened_control_socket = true;
char startup[] =
char startup[] =
"info\n"
"resume\n"
"step\n"
@ -337,7 +337,7 @@ void JSBSim::send_servos(const struct sitl_input &input)
rudder = (ch2+ch1)/2.0f;
}
float wind_speed_fps = input.wind.speed / FEET_TO_METERS;
asprintf(&buf,
asprintf(&buf,
"set fcs/aileron-cmd-norm %f\n"
"set fcs/elevator-cmd-norm %f\n"
"set fcs/rudder-cmd-norm %f\n"
@ -370,7 +370,7 @@ void JSBSim::send_servos(const struct sitl_input &input)
/* nasty hack ....
JSBSim sends in little-endian
*/
void FGNetFDM::ByteSwap(void)
void FGNetFDM::ByteSwap(void)
{
uint32_t *buf = (uint32_t *)this;
for (uint16_t i=0; i<sizeof(*this)/4; i++) {

14
libraries/SITL/SIM_JSBSim.h
View File

@ -109,7 +109,7 @@ public:
float phidot; // roll rate (radians/sec)
float thetadot; // pitch rate (radians/sec)
float psidot; // yaw rate (radians/sec)
float vcas; // calibrated airspeed
float vcas; // calibrated airspeed
float climb_rate; // feet per second
float v_north; // north velocity in local/body frame, fps
float v_east; // east velocity in local/body frame, fps
@ -131,17 +131,17 @@ public:
float slip_deg; // slip ball deflection
// Pressure
// Engine status
uint32_t num_engines; // Number of valid engines
uint32_t num_engines; // Number of valid engines
uint32_t eng_state[FG_MAX_ENGINES];// Engine state (off, cranking, running)
float rpm[FG_MAX_ENGINES]; // Engine RPM rev/min
float rpm[FG_MAX_ENGINES]; // Engine RPM rev/min
float fuel_flow[FG_MAX_ENGINES]; // Fuel flow gallons/hr
float fuel_px[FG_MAX_ENGINES]; // Fuel pressure psi
float egt[FG_MAX_ENGINES]; // Exhuast gas temp deg F
float cht[FG_MAX_ENGINES]; // Cylinder head temp deg F
float egt[FG_MAX_ENGINES]; // Exhuast gas temp deg F
float cht[FG_MAX_ENGINES]; // Cylinder head temp deg F
float mp_osi[FG_MAX_ENGINES]; // Manifold pressure
float tit[FG_MAX_ENGINES]; // Turbine Inlet Temperature
float tit[FG_MAX_ENGINES]; // Turbine Inlet Temperature
float oil_temp[FG_MAX_ENGINES]; // Oil temp deg F
float oil_px[FG_MAX_ENGINES]; // Oil pressure psi

8
libraries/SITL/SIM_Tracker.cpp
View File

@ -42,7 +42,7 @@ void Tracker::update_position_servos(float delta_time, float &yaw_rate, float &p
/*
update function for onoff servos.
These servos either move at a constant rate or are still
These servos either move at a constant rate or are still
Returns (yaw_rate,pitch_rate) tuple
*/
void Tracker::update_onoff_servos(float &yaw_rate, float &pitch_rate)
@ -71,7 +71,7 @@ void Tracker::update(const struct sitl_input &input)
{
// how much time has passed?
float delta_time = frame_time_us * 1.0e-6f;
float yaw_rate, pitch_rate;
yaw_input = (input.servos[0]-1500)/500.0f;
@ -117,8 +117,8 @@ void Tracker::update(const struct sitl_input &input)
last_debug_us = time_now_us;
printf("roll=%.1f pitch=%.1f yaw=%.1f rates=%.1f/%.1f/%.1f in=%.3f,%.3f\n",
roll_current,
pitch_current_relative,
yaw_current_relative,
pitch_current_relative,
yaw_current_relative,
roll_rate, pitch_rate, yaw_rate,
yaw_input, pitch_input);
}

2
libraries/SITL/SIM_last_letter.h
View File

@ -50,7 +50,7 @@ private:
struct servo_packet {
uint16_t servos[16];
};
/*
reply packet sent from last_letter to ArduPilot
*/

6
libraries/SITL/SITL.cpp
View File

@ -95,9 +95,9 @@ void SITL::simstate_send(mavlink_channel_t chan)
state.xAccel,
state.yAccel,
state.zAccel,
radians(state.rollRate),
radians(state.pitchRate),
radians(state.yawRate),
radians(state.rollRate),
radians(state.pitchRate),
radians(state.yawRate),
state.latitude*1.0e7,
state.longitude*1.0e7);
}