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ArduPlane: replaced many "int" with "int16_t", "long" with "int32_t"

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This commit is contained in:
rmackay9 2012-08-18 18:26:13 +09:00
parent 976679208c
commit 6d489947cf
9 changed files with 26 additions and 26 deletions
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2
ArduPlane/ArduPlane.pde
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@ -631,7 +631,7 @@ static float G_Dt = 0.02;
// Timer used to accrue data and trigger recording of the performanc monitoring log message
static int32_t perf_mon_timer;
// The maximum main loop execution time recorded in the current performance monitoring interval
static int G_Dt_max = 0;
static int16_t G_Dt_max = 0;
// The number of gps fixes recorded in the current performance monitoring interval
static int16_t gps_fix_count = 0;
// A variable used by developers to track performanc metrics.

6
ArduPlane/Attitude.pde
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@ -133,7 +133,7 @@ static void crash_checker()
static void calc_throttle()
{
if (!airspeed.use()) {
int throttle_target = g.throttle_cruise + throttle_nudge;
int16_t throttle_target = g.throttle_cruise + throttle_nudge;
// TODO: think up an elegant way to bump throttle when
// groundspeed_undershoot > 0 in the no airspeed sensor case; PID
@ -255,7 +255,7 @@ float roll_slew_limit(float servo)
*****************************************/
static void throttle_slew_limit()
{
static int last = 1000;
static int16_t last = 1000;
if(g.throttle_slewrate) { // if slew limit rate is set to zero then do not slew limit
float temp = g.throttle_slewrate * G_Dt * 10.f; // * 10 to scale % to pwm range of 1000 to 2000
@ -281,7 +281,7 @@ static void reset_I(void)
*****************************************/
static void set_servos(void)
{
int flapSpeedSource = 0;
int16_t flapSpeedSource = 0;
// vectorize the rc channels
RC_Channel_aux* rc_array[NUM_CHANNELS];

12
ArduPlane/GCS_Mavlink.pde
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@ -474,7 +474,7 @@ static void NOINLINE send_statustext(mavlink_channel_t chan)
// try to send a message, return false if it won't fit in the serial tx buffer
static bool mavlink_try_send_message(mavlink_channel_t chan, enum ap_message id, uint16_t packet_drops)
{
int payload_space = comm_get_txspace(chan) - MAVLINK_NUM_NON_PAYLOAD_BYTES;
int16_t payload_space = comm_get_txspace(chan) - MAVLINK_NUM_NON_PAYLOAD_BYTES;
if (chan == MAVLINK_COMM_1 && millis() < MAVLINK_TELEMETRY_PORT_DELAY) {
// defer any messages on the telemetry port for 1 second after
@ -946,7 +946,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
if (mavlink_check_target(packet.target_system, packet.target_component))
break;
int freq = 0; // packet frequency
int16_t freq = 0; // packet frequency
if (packet.start_stop == 0)
freq = 0; // stop sending
@ -1963,10 +1963,10 @@ GCS_MAVLINK::queued_waypoint_send()
MAVLink to process packets while waiting for the initialisation to
complete
*/
static void mavlink_delay(unsigned long t)
static void mavlink_delay(uint32_t t)
{
unsigned long tstart;
static unsigned long last_1hz, last_50hz, last_5s;
uint32_t tstart;
static uint32_t last_1hz, last_50hz, last_5s;
if (in_mavlink_delay) {
// this should never happen, but let's not tempt fate by
@ -1979,7 +1979,7 @@ static void mavlink_delay(unsigned long t)
tstart = millis();
do {
unsigned long tnow = millis();
uint32_t tnow = millis();
if (tnow - last_1hz > 1000) {
last_1hz = tnow;
gcs_send_message(MSG_HEARTBEAT);

2
ArduPlane/Parameters.pde
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@ -609,7 +609,7 @@ static void load_parameters(void)
g.format_version.set_and_save(Parameters::k_format_version);
Serial.println_P(PSTR("done."));
} else {
unsigned long before = micros();
uint32_t before = micros();
// Load all auto-loaded EEPROM variables
AP_Param::load_all();

8
ArduPlane/commands.pde
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@ -40,10 +40,10 @@ static void reload_commands_airstart()
// Getters
// -------
static struct Location get_cmd_with_index(int i)
static struct Location get_cmd_with_index(int16_t i)
{
struct Location temp;
long mem;
int32_t mem;
// Find out proper location in memory by using the start_byte position + the index
// --------------------------------------------------------------------------------
@ -83,7 +83,7 @@ static struct Location get_cmd_with_index(int i)
// Setters
// -------
static void set_cmd_with_index(struct Location temp, int i)
static void set_cmd_with_index(struct Location temp, int16_t i)
{
i = constrain(i, 0, g.command_total.get());
intptr_t mem = WP_START_BYTE + (i * WP_SIZE);
@ -121,7 +121,7 @@ static void decrement_cmd_index()
}
}
static long read_alt_to_hold()
static int32_t read_alt_to_hold()
{
if (g.RTL_altitude_cm < 0) {
return current_loc.alt;

4
ArduPlane/events.pde
View File

@ -1,7 +1,7 @@
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
static void failsafe_short_on_event(int fstype)
static void failsafe_short_on_event(int16_t fstype)
{
// This is how to handle a short loss of control signal failsafe.
failsafe = fstype;
@ -32,7 +32,7 @@ static void failsafe_short_on_event(int fstype)
gcs_send_text_fmt(PSTR("flight mode = %u"), (unsigned)control_mode);
}
static void failsafe_long_on_event(int fstype)
static void failsafe_long_on_event(int16_t fstype)
{
// This is how to handle a long loss of control signal failsafe.
gcs_send_text_P(SEVERITY_LOW, PSTR("Failsafe - Long event on, "));

2
ArduPlane/planner.pde
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@ -32,7 +32,7 @@ planner_gcs(uint8_t argc, const Menu::arg *argv)
gcs3.init(&Serial3);
#endif
int loopcount = 0;
int16_t loopcount = 0;
while (1) {
if (millis()-fast_loopTimer_ms > 19) {
fast_loopTimer_ms = millis();

8
ArduPlane/setup.pde
View File

@ -217,7 +217,7 @@ setup_flightmodes(uint8_t argc, const Menu::arg *argv)
}
// look for stick input
int radioInputSwitch = radio_input_switch();
int16_t radioInputSwitch = radio_input_switch();
if (radioInputSwitch != 0){
@ -480,7 +480,7 @@ static void report_flight_modes()
Serial.printf_P(PSTR("Flight modes\n"));
print_divider();
for(int i = 0; i < 6; i++ ){
for(int16_t i = 0; i < 6; i++ ){
print_switch(i, flight_modes[i]);
}
print_blanks(2);
@ -528,7 +528,7 @@ print_done()
}
static void
print_blanks(int num)
print_blanks(int16_t num)
{
while(num > 0){
num--;
@ -539,7 +539,7 @@ print_blanks(int num)
static void
print_divider(void)
{
for (int i = 0; i < 40; i++) {
for (int16_t i = 0; i < 40; i++) {
Serial.printf_P(PSTR("-"));
}
Serial.println("");

8
ArduPlane/test.pde
View File

@ -137,7 +137,7 @@ test_passthru(uint8_t argc, const Menu::arg *argv)
// New radio frame? (we could use also if((millis()- timer) > 20)
if (APM_RC.GetState() == 1){
Serial.print("CH:");
for(int i = 0; i < 8; i++){
for(int16_t i = 0; i < 8; i++){
Serial.print(APM_RC.InputCh(i)); // Print channel values
Serial.print(",");
APM_RC.OutputCh(i, APM_RC.InputCh(i)); // Copy input to Servos
@ -195,7 +195,7 @@ test_failsafe(uint8_t argc, const Menu::arg *argv)
{
byte fail_test;
print_hit_enter();
for(int i = 0; i < 50; i++){
for(int16_t i = 0; i < 50; i++){
delay(20);
read_radio();
}
@ -423,7 +423,7 @@ test_adc(uint8_t argc, const Menu::arg *argv)
delay(1000);
while(1){
for (int i=0;i<9;i++) Serial.printf_P(PSTR("%.1f\t"),adc.Ch(i));
for (int16_t i=0;i<9;i++) Serial.printf_P(PSTR("%.1f\t"),adc.Ch(i));
Serial.println();
delay(100);
if(Serial.available() > 0){
@ -531,7 +531,7 @@ test_mag(uint8_t argc, const Menu::arg *argv)
imu.init(IMU::COLD_START, delay, flash_leds, &timer_scheduler);
ahrs.reset();
int counter = 0;
int16_t counter = 0;
float heading = 0;
//Serial.printf_P(PSTR("MAG_ORIENTATION: %d\n"), MAG_ORIENTATION);