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SITL: Sim_aircraft correct style

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Pierre Kancir 2017-03-01 16:29:53 +01:00 committed by Andrew Tridgell
parent 4acf4538c7
commit 148e84320b
1 changed files with 25 additions and 25 deletions
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50
libraries/SITL/SIM_Aircraft.h
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@ -120,31 +120,31 @@ protected:
float ground_level;
float home_yaw;
float frame_height;
Matrix3f dcm; // rotation matrix, APM conventions, from body to earth
Vector3f gyro; // rad/s
Vector3f gyro_prev; // rad/s
Vector3f ang_accel; // rad/s/s
Vector3f velocity_ef; // m/s, earth frame
Vector3f wind_ef; // m/s, earth frame
Vector3f velocity_air_ef; // velocity relative to airmass, earth frame
Vector3f velocity_air_bf; // velocity relative to airmass, body frame
Vector3f position; // meters, NED from origin
float mass; // kg
Vector3f accel_body; // m/s/s NED, body frame
float airspeed; // m/s, apparent airspeed
float airspeed_pitot; // m/s, apparent airspeed, as seen by fwd pitot tube
float battery_voltage = -1;
float battery_current = 0;
Matrix3f dcm; // rotation matrix, APM conventions, from body to earth
Vector3f gyro; // rad/s
Vector3f gyro_prev; // rad/s
Vector3f ang_accel; // rad/s/s
Vector3f velocity_ef; // m/s, earth frame
Vector3f wind_ef; // m/s, earth frame
Vector3f velocity_air_ef; // velocity relative to airmass, earth frame
Vector3f velocity_air_bf; // velocity relative to airmass, body frame
Vector3f position; // meters, NED from origin
float mass; // kg
Vector3f accel_body; // m/s/s NED, body frame
float airspeed; // m/s, apparent airspeed
float airspeed_pitot; // m/s, apparent airspeed, as seen by fwd pitot tube
float battery_voltage = -1.0f;
float battery_current = 0.0f;
float rpm1 = 0;
float rpm2 = 0;
uint8_t rcin_chan_count = 0;
float rcin[8];
float range = -1; // rangefinder detection in m
float range = -1.0f; // rangefinder detection in m
// Wind Turbulence simulated Data
float turbulence_azimuth = 0;
float turbulence_horizontal_speed = 0; // m/s
float turbulence_vertical_speed = 0; // m/s
float turbulence_azimuth = 0.0f;
float turbulence_horizontal_speed = 0.0f; // m/s
float turbulence_vertical_speed = 0.0f; // m/s
Vector3f mag_bf; // local earth magnetic field vector in Gauss, earth frame
@ -162,7 +162,7 @@ protected:
const char *autotest_dir;
const char *frame;
bool use_time_sync = true;
float last_speedup = -1;
float last_speedup = -1.0f;
enum {
GROUND_BEHAVIOR_NONE = 0,
@ -250,11 +250,11 @@ private:
LowPassFilterFloat servo_filter[4];
/* set this always to the sampling in degrees for the table below */
#define SAMPLING_RES 10.0f
#define SAMPLING_MIN_LAT -60.0f
#define SAMPLING_MAX_LAT 60.0f
#define SAMPLING_MIN_LON -180.0f
#define SAMPLING_MAX_LON 180.0f
static const float SAMPLING_RES = 10.0f;
static const float SAMPLING_MIN_LAT = -60.0f;
static const float SAMPLING_MAX_LAT = 60.0f;
static const float SAMPLING_MIN_LON = -180.0f;
static const float SAMPLING_MAX_LON = 180.0f;
/* table data containing magnetic declination angle in degrees */
const float declination_table[13][37] =