aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

uncrustify ArduPlane/climb_rate.pde

Browse Source
This commit is contained in:
uncrustify 2012-08-16 17:50:15 -07:00 committed by Pat Hickey
parent 3938011f39
commit 3f54fb67d1
1 changed files with 39 additions and 39 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

78
ArduPlane/climb_rate.pde
View File

@ -3,58 +3,58 @@
#if 0 // currently unused #if 0 // currently unused
struct DataPoint { struct DataPoint {
unsigned long x; unsigned long x;
long y; long y;
}; };
DataPoint history[ALTITUDE_HISTORY_LENGTH]; // Collection of (x,y) points to regress a rate of change from DataPoint history[ALTITUDE_HISTORY_LENGTH]; // Collection of (x,y) points to regress a rate of change from
unsigned char hindex; // Index in history for the current data point unsigned char hindex; // Index in history for the current data point
unsigned long xoffset; unsigned long xoffset;
unsigned char n; unsigned char n;
// Intermediate variables for regression calculation // Intermediate variables for regression calculation
long xi; long xi;
long yi; long yi;
long xiyi; long xiyi;
unsigned long xi2; unsigned long xi2;
void add_altitude_data(unsigned long xl, long y) void add_altitude_data(unsigned long xl, long y)
{ {
//Reset the regression if our X variable overflowed //Reset the regression if our X variable overflowed
if (xl < xoffset) if (xl < xoffset)
n = 0; n = 0;
//To allow calculation of sum(xi*yi), make sure X hasn't exceeded 2^32/2^15/length //To allow calculation of sum(xi*yi), make sure X hasn't exceeded 2^32/2^15/length
if (xl - xoffset > 131072/ALTITUDE_HISTORY_LENGTH) if (xl - xoffset > 131072/ALTITUDE_HISTORY_LENGTH)
n = 0; n = 0;
if (n == ALTITUDE_HISTORY_LENGTH) { if (n == ALTITUDE_HISTORY_LENGTH) {
xi -= history[hindex].x; xi -= history[hindex].x;
yi -= history[hindex].y; yi -= history[hindex].y;
xiyi -= (long)history[hindex].x * history[hindex].y; xiyi -= (long)history[hindex].x * history[hindex].y;
xi2 -= history[hindex].x * history[hindex].x; xi2 -= history[hindex].x * history[hindex].x;
} else { } else {
if (n == 0) { if (n == 0) {
xoffset = xl; xoffset = xl;
xi = 0; xi = 0;
yi = 0; yi = 0;
xiyi = 0; xiyi = 0;
xi2 = 0; xi2 = 0;
} }
n++; n++;
} }
history[hindex].x = xl - xoffset; history[hindex].x = xl - xoffset;
history[hindex].y = y; history[hindex].y = y;
xi += history[hindex].x; xi += history[hindex].x;
yi += history[hindex].y; yi += history[hindex].y;
xiyi += (long)history[hindex].x * history[hindex].y; xiyi += (long)history[hindex].x * history[hindex].y;
xi2 += history[hindex].x * history[hindex].x; xi2 += history[hindex].x * history[hindex].x;
if (++hindex >= ALTITUDE_HISTORY_LENGTH) if (++hindex >= ALTITUDE_HISTORY_LENGTH)
hindex = 0; hindex = 0;
} }
#endif #endif