Several coding style problems were already fixed by previous commit,
just finish the cleanup on this example:
- replace tabs with spaces
- remove unneeded \r
- remove extra spaces
We should return the number of bytes written/read, not 0 on success.
This number may be useful in some cases so return it.
While at it fix a simple wrong space in the header.
Due to the way the headers are organized changing a single change in an
inertial sensor driver would trigger a rebuild for most of the files in
the project. Time could be saved by using ccache (since most of the
things didn't change) but we can do better, i.e. re-organize the headers
so we don't have to re-build everything.
With this patch only AP_InertialSensor/AP_InertialSensor.h is exposed to
most users. There are some corner cases to integrate with some example
code, but most of the places now depend only on this header and this
header doesn't depend on the specific backends.
Now changing a single header, e.g. AP_InertialSensor_L3G4200D.h triggers
a rebuild only of these files:
$ waf copter
'copter' finished successfully (0.000s)
Waf: Entering directory `/home/lucas/p/dronecode/ardupilot/build/minlure'
[ 80/370] Compiling libraries/AP_InertialSensor/AP_InertialSensor.cpp
[ 84/370] Compiling libraries/AP_InertialSensor/AP_InertialSensor_L3G4200D.cpp
[310/370] Linking build/minlure/ArduCopter/libArduCopter_libs.a
[370/370] Linking build/minlure/bin/arducopter
Waf: Leaving directory `/home/lucas/p/dronecode/ardupilot/build/minlure'
This is not used by any board and has a lot of commented out code. For
example, the compass is not enabled. The comment in the beginning of
the driver says it should serve as an example, but we should rather use
a working driver as an example. If this was at least a bit simpler and
that worked in the past we could refactor it to the new I2CDevice API.
This is not the case.
new functions that get a filtered min/max accel peaks on each axis with fixed 500ms timeout:
Vector3f get_accel_peak_hold_pos()
Vector3f get_accel_peak_hold_neg()
This allows slower mechanisms, such as is_flying, to detect accel spikes which would indicate ground or object impacts. Vibe is too filtered. Independent positive and negative peaks are available
The problem with using min() and max() is that they conflict with some
C++ headers. Name the macros in uppercase instead. We may go case by
case later converting them to be typesafe.
Changes generated with:
git ls-files '*.cpp' '*.h' -z | xargs -0 sed -i 's/\([^_[:alnum:]]\)max(/\1MAX(/g'
git ls-files '*.cpp' '*.h' -z | xargs -0 sed -i 's/\([^_[:alnum:]]\)min(/\1MIN(/g'
Lucas De Marchi
AndersonRayner
ashwinvasudevan
raspilot
Gustavo Jose de Sousa
Staroselskii Georgii
Jonathan Challinger
Randy Mackay
Andrew Tridgell
Víctor Mayoral Vilches
Tom Pittenger
Don Gagne
Aaron Wang Shi
Julien BERAUD
Caio Marcelo de Oliveira Filho