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

ArduCopter: convert to unix style end-of-line

Browse Source
This commit is contained in:
Jaaaky 2019-06-18 21:29:05 +03:00 committed by Randy Mackay
parent f9c35772fe
commit 5ce185e4ac
2 changed files with 67 additions and 67 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

58
ArduCopter/precision_landing.cpp
View File

@ -1,29 +1,29 @@
// //
// functions to support precision landing // functions to support precision landing
// //
#include "Copter.h" #include "Copter.h"
#if PRECISION_LANDING == ENABLED #if PRECISION_LANDING == ENABLED
void Copter::init_precland() void Copter::init_precland()
{ {
copter.precland.init(400); copter.precland.init(400);
} }
void Copter::update_precland() void Copter::update_precland()
{ {
int32_t height_above_ground_cm = current_loc.alt; int32_t height_above_ground_cm = current_loc.alt;
// use range finder altitude if it is valid, else try to get terrain alt // use range finder altitude if it is valid, else try to get terrain alt
if (rangefinder_alt_ok()) { if (rangefinder_alt_ok()) {
height_above_ground_cm = rangefinder_state.alt_cm; height_above_ground_cm = rangefinder_state.alt_cm;
} else if (terrain_use()) { } else if (terrain_use()) {
if (!current_loc.get_alt_cm(Location::AltFrame::ABOVE_TERRAIN, height_above_ground_cm)) { if (!current_loc.get_alt_cm(Location::AltFrame::ABOVE_TERRAIN, height_above_ground_cm)) {
height_above_ground_cm = current_loc.alt; height_above_ground_cm = current_loc.alt;
} }
} }
precland.update(height_above_ground_cm, rangefinder_alt_ok()); precland.update(height_above_ground_cm, rangefinder_alt_ok());
} }
#endif #endif

76
ArduCopter/terrain.cpp
View File

@ -1,38 +1,38 @@
#include "Copter.h" #include "Copter.h"
// update terrain data // update terrain data
void Copter::terrain_update() void Copter::terrain_update()
{ {
#if AP_TERRAIN_AVAILABLE && AC_TERRAIN #if AP_TERRAIN_AVAILABLE && AC_TERRAIN
terrain.update(); terrain.update();
// tell the rangefinder our height, so it can go into power saving // tell the rangefinder our height, so it can go into power saving
// mode if available // mode if available
#if RANGEFINDER_ENABLED == ENABLED #if RANGEFINDER_ENABLED == ENABLED
float height; float height;
if (terrain.height_above_terrain(height, true)) { if (terrain.height_above_terrain(height, true)) {
rangefinder.set_estimated_terrain_height(height); rangefinder.set_estimated_terrain_height(height);
} }
#endif #endif
#endif #endif
} }
// log terrain data - should be called at 1hz // log terrain data - should be called at 1hz
void Copter::terrain_logging() void Copter::terrain_logging()
{ {
#if AP_TERRAIN_AVAILABLE && AC_TERRAIN #if AP_TERRAIN_AVAILABLE && AC_TERRAIN
if (should_log(MASK_LOG_GPS)) { if (should_log(MASK_LOG_GPS)) {
terrain.log_terrain_data(); terrain.log_terrain_data();
} }
#endif #endif
} }
// should we use terrain data for things including the home altitude // should we use terrain data for things including the home altitude
bool Copter::terrain_use() bool Copter::terrain_use()
{ {
#if AP_TERRAIN_AVAILABLE && AC_TERRAIN #if AP_TERRAIN_AVAILABLE && AC_TERRAIN
return (g.terrain_follow > 0); return (g.terrain_follow > 0);
#else #else
return false; return false;
#endif #endif
} }