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uncrustify libraries/AP_Navigation/Navigation.h

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uncrustify 2012-08-16 23:20:45 -07:00 committed by Pat Hickey
parent c2ba76c2d3
commit 4e3199a9e9
1 changed files with 56 additions and 56 deletions
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libraries/AP_Navigation/Navigation.h
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@ -2,78 +2,78 @@
#ifndef AP_NAVIGATION_h
#define AP_NAVIGATION_h
#define XTRACK_GAIN 10 // Amount to compensate for crosstrack (degrees/100 per meter)
#define XTRACK_ENTRY_ANGLE 3000 // Max angle used to correct for track following degrees*100
#include <GPS.h> // ArduPilot GPS Library
#include "Waypoints.h" // ArduPilot Waypoints Library
#define XTRACK_GAIN 10 // Amount to compensate for crosstrack (degrees/100 per meter)
#define XTRACK_ENTRY_ANGLE 3000 // Max angle used to correct for track following degrees*100
#include <GPS.h> // ArduPilot GPS Library
#include "Waypoints.h" // ArduPilot Waypoints Library
#if defined(ARDUINO) && ARDUINO >= 100
#include "Arduino.h"
#include "Arduino.h"
#else
#include "WProgram.h"
#include "WProgram.h"
#endif
#define T7 10000000
class Navigation {
public:
Navigation(GPS *withGPS, Waypoints *withWP);
void update_gps(void); // called 50 Hz
void set_home(Waypoints::WP loc);
void set_next_wp(Waypoints::WP loc);
void load_first_wp(void);
void load_wp_with_index(uint8_t i);
void load_home(void);
void return_to_home_with_alt(uint32_t alt);
Navigation(GPS *withGPS, Waypoints *withWP);
void reload_wp(void);
void load_wp_index(uint8_t i);
void hold_location();
void set_wp(Waypoints::WP loc);
void update_gps(void); // called 50 Hz
void set_home(Waypoints::WP loc);
void set_next_wp(Waypoints::WP loc);
void load_first_wp(void);
void load_wp_with_index(uint8_t i);
void load_home(void);
void return_to_home_with_alt(uint32_t alt);
void set_hold_course(int16_t b); // -1 deisables, 0-36000 enables
int16_t get_hold_course(void);
void reload_wp(void);
void load_wp_index(uint8_t i);
void hold_location();
void set_wp(Waypoints::WP loc);
int32_t get_distance(Waypoints::WP *loc1, Waypoints::WP *loc2);
int32_t get_bearing(Waypoints::WP *loc1, Waypoints::WP *loc2);
void set_bearing_error(int32_t error);
void set_loiter_vector(int16_t v);
void update_crosstrack(void);
void set_hold_course(int16_t b); // -1 deisables, 0-36000 enables
int16_t get_hold_course(void);
int32_t wrap_180(int32_t error); // utility
int32_t wrap_360(int32_t angle); // utility
int32_t bearing; // deg * 100 : 0 to 360 current desired bearing to navigate
int32_t distance; // meters : distance plane to next waypoint
int32_t altitude_above_home; // meters * 100 relative to home position
int32_t total_distance; // meters : distance between waypoints
int32_t bearing_error; // deg * 100 : 18000 to -18000
int32_t altitude_error; // deg * 100 : 18000 to -18000
int32_t get_distance(Waypoints::WP *loc1, Waypoints::WP *loc2);
int32_t get_bearing(Waypoints::WP *loc1, Waypoints::WP *loc2);
void set_bearing_error(int32_t error);
int16_t loiter_sum;
Waypoints::WP home, location, prev_wp, next_wp;
void set_loiter_vector(int16_t v);
void update_crosstrack(void);
int32_t wrap_180(int32_t error); // utility
int32_t wrap_360(int32_t angle); // utility
int32_t bearing; // deg * 100 : 0 to 360 current desired bearing to navigate
int32_t distance; // meters : distance plane to next waypoint
int32_t altitude_above_home; // meters * 100 relative to home position
int32_t total_distance; // meters : distance between waypoints
int32_t bearing_error; // deg * 100 : 18000 to -18000
int32_t altitude_error; // deg * 100 : 18000 to -18000
int16_t loiter_sum;
Waypoints::WP home, location, prev_wp, next_wp;
private:
void calc_int32_t_scaling(int32_t lat);
void calc_bearing_error(void);
void calc_altitude_error(void);
void calc_distance_error(void);
void calc_long_scaling(int32_t lat);
void reset_crosstrack(void);
void calc_int32_t_scaling(int32_t lat);
void calc_bearing_error(void);
void calc_altitude_error(void);
void calc_distance_error(void);
void calc_long_scaling(int32_t lat);
void reset_crosstrack(void);
int16_t _old_bearing; // used to track delta on the bearing
GPS *_gps;
Waypoints *_wp;
int32_t _crosstrack_bearing; // deg * 100 : 0 to 360 desired angle of plane to target
float _crosstrack_error; // deg * 100 : 18000 to -18000 meters we are off trackline
int16_t _hold_course; // deg * 100 dir of plane
int32_t _target_altitude; // used for
int32_t _offset_altitude; // used for
float _altitude_estimate;
float _scaleLongUp; // used to reverse int32_ttitude scaling
float _scaleLongDown; // used to reverse int32_ttitude scaling
int16_t _loiter_delta;
int16_t _old_bearing; // used to track delta on the bearing
GPS * _gps;
Waypoints * _wp;
int32_t _crosstrack_bearing; // deg * 100 : 0 to 360 desired angle of plane to target
float _crosstrack_error; // deg * 100 : 18000 to -18000 meters we are off trackline
int16_t _hold_course; // deg * 100 dir of plane
int32_t _target_altitude; // used for
int32_t _offset_altitude; // used for
float _altitude_estimate;
float _scaleLongUp; // used to reverse int32_ttitude scaling
float _scaleLongDown; // used to reverse int32_ttitude scaling
int16_t _loiter_delta;
};