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ACM : Formatting

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This commit is contained in:
Jason Short 2012-12-13 20:12:39 -08:00
parent dda74afa21
commit 19ae5c30eb
6 changed files with 44 additions and 138 deletions
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2
ArduCopter/ArduCopter.pde
View File

@ -868,7 +868,7 @@ static int16_t gps_fix_count;
// Time in microseconds of main control loop
static uint32_t fast_loopTimer;
// Time in microseconds of 50hz control loop
static uint32_t fiftyhz_loopTimer = 0;
static uint32_t fiftyhz_loopTimer;
// Counters for branching from 10 hz control loop
static byte medium_loopCounter;
// Counters for branching from 3 1/3hz control loop

94
ArduCopter/GCS.pde
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@ -1,94 +0,0 @@
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/*
* GCS Protocol
*
* 4 Ardupilot Header
* D
* 5 Payload length
* 1 Message ID
* 1 Message Version
* 9 Payload byte 1
* 8 Payload byte 2
* 7 Payload byte 3
* A Checksum byte 1
* B Checksum byte 2
*
*/
/*
* #if GCS_PORT == 3
# define SendSerw Serial3.write
# define SendSer Serial3.print
##else
# define SendSerw Serial.write
# define SendSer Serial.print
##endif
#
# byte mess_buffer[60];
# byte buff_pointer;
#
# // Unions for getting byte values
# union f_out{
# byte bytes[4];
# float value;
# } floatOut;
#
# union i_out {
# byte bytes[2];
# int16_t value;
# } intOut;
#
# union l_out{
# byte bytes[4];
# int32_t value;
# } longOut;
#
# // Add binary values to the buffer
# void write_byte(byte val)
# {
# mess_buffer[buff_pointer++] = val;
# }
#
# void write_int(int16_t val )
# {
# intOut.value = val;
# mess_buffer[buff_pointer++] = intOut.bytes[0];
# mess_buffer[buff_pointer++] = intOut.bytes[1];
# }
#
# void write_float(float val)
# {
# floatOut.value = val;
# mess_buffer[buff_pointer++] = floatOut.bytes[0];
# mess_buffer[buff_pointer++] = floatOut.bytes[1];
# mess_buffer[buff_pointer++] = floatOut.bytes[2];
# mess_buffer[buff_pointer++] = floatOut.bytes[3];
# }
#
# void write_long(int32_t val)
# {
# longOut.value = val;
# mess_buffer[buff_pointer++] = longOut.bytes[0];
# mess_buffer[buff_pointer++] = longOut.bytes[1];
# mess_buffer[buff_pointer++] = longOut.bytes[2];
# mess_buffer[buff_pointer++] = longOut.bytes[3];
# }
#
# void flush(byte id)
# {
# byte mess_ck_a = 0;
# byte mess_ck_b = 0;
# byte i;
#
# SendSer("4D"); // This is the message preamble
# SendSerw(buff_pointer); // Length
# SendSerw(2); // id
#
# for (i = 0; i < buff_pointer; i++) {
# SendSerw(mess_buffer[i]);
# }
#
# buff_pointer = 0;
# }
*/

6
ArduCopter/navigation.pde
View File

@ -292,7 +292,7 @@ static void update_nav_wp()
loiter_sum += loiter_delta;
circle_angle += (circle_rate * dTnav);
//1° = 0.0174532925 radians
//1deg = 0.0174532925 radians
// wrap
if (circle_angle > 6.28318531)
@ -331,8 +331,8 @@ static void update_nav_wp()
nav_lon = g.pid_loiter_rate_lon.get_integrator();
nav_lat = g.pid_loiter_rate_lon.get_integrator();
nav_lon = constrain(nav_lon, -2000, 2000); // 20°
nav_lat = constrain(nav_lat, -2000, 2000); // 20°
nav_lon = constrain(nav_lon, -2000, 2000); // 20m
nav_lat = constrain(nav_lat, -2000, 2000); // 20m
break;
}
}