uncrustify ArduCopter/motors.pde
This commit is contained in:
uncrustify
Pat Hickey
parent
d49df965f3
commit
7f89e6c677
@ -9,107 +9,107 @@
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// called at 10hz
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static void arm_motors()
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{
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static int16_t arming_counter;
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static int16_t arming_counter;
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// don't allow arming/disarming in anything but manual
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if ((g.rc_3.control_in > 0) || (arming_counter > LEVEL_DELAY)){
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arming_counter = 0;
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return;
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}
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// don't allow arming/disarming in anything but manual
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if ((g.rc_3.control_in > 0) || (arming_counter > LEVEL_DELAY)) {
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arming_counter = 0;
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return;
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}
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if ((control_mode > ACRO) && ((control_mode != TOY_A) && (control_mode != TOY_M))){
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arming_counter = 0;
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return;
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}
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if ((control_mode > ACRO) && ((control_mode != TOY_A) && (control_mode != TOY_M))) {
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arming_counter = 0;
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return;
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}
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#if TOY_EDF == ENABLED
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int16_t tmp = g.rc_1.control_in;
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#else
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int16_t tmp = g.rc_4.control_in;
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#endif
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#if TOY_EDF == ENABLED
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int16_t tmp = g.rc_1.control_in;
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#else
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int16_t tmp = g.rc_4.control_in;
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#endif
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// full right
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if (tmp > 4000) {
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if (arming_counter == LEVEL_DELAY){
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//Serial.printf("\nAL\n");
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// begin auto leveling
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auto_level_counter = 250;
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arming_counter = 0;
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// full right
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if (tmp > 4000) {
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if (arming_counter == LEVEL_DELAY) {
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//Serial.printf("\nAL\n");
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// begin auto leveling
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auto_level_counter = 250;
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arming_counter = 0;
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}else if (arming_counter == ARM_DELAY){
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if(motors.armed() == false){
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// arm the motors and configure for flight
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}else if (arming_counter == ARM_DELAY) {
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if(motors.armed() == false) {
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// arm the motors and configure for flight
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////////////////////////////////////////////////////////////////////////////////
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// Experimental AP_Limits library - set constraints, limits, fences, minima, maxima on various parameters
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////////////////////////////////////////////////////////////////////////////////
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#ifdef AP_LIMITS
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if (limits.enabled() && limits.required()) {
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gcs_send_text_P(SEVERITY_LOW, PSTR("Limits - Running pre-arm checks"));
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if (limits.enabled() && limits.required()) {
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gcs_send_text_P(SEVERITY_LOW, PSTR("Limits - Running pre-arm checks"));
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// check only pre-arm required modules
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if (limits.check_required()) {
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gcs_send_text_P(SEVERITY_LOW, PSTR("ARMING PREVENTED - Limit Breached"));
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limits.set_state(LIMITS_TRIGGERED);
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gcs_send_message(MSG_LIMITS_STATUS);
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// check only pre-arm required modules
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if (limits.check_required()) {
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gcs_send_text_P(SEVERITY_LOW, PSTR("ARMING PREVENTED - Limit Breached"));
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limits.set_state(LIMITS_TRIGGERED);
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gcs_send_message(MSG_LIMITS_STATUS);
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arming_counter++; // restart timer by cycling
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}else{
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init_arm_motors();
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}
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}else{
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init_arm_motors();
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}
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arming_counter++; // restart timer by cycling
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}else{
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init_arm_motors();
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}
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}else{
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init_arm_motors();
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}
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#else // without AP_LIMITS, just arm motors
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init_arm_motors();
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init_arm_motors();
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#endif //AP_LIMITS_ENABLED
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}
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// keep going up
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arming_counter++;
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} else{
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arming_counter++;
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}
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}
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// keep going up
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arming_counter++;
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} else{
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arming_counter++;
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}
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// full left
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}else if (tmp < -4000) {
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if (arming_counter == LEVEL_DELAY){
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//Serial.printf("\nLEV\n");
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// full left
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}else if (tmp < -4000) {
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if (arming_counter == LEVEL_DELAY) {
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//Serial.printf("\nLEV\n");
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// begin manual leveling
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imu.init_accel(mavlink_delay, flash_leds);
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arming_counter = 0;
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// begin manual leveling
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imu.init_accel(mavlink_delay, flash_leds);
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arming_counter = 0;
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}else if (arming_counter == DISARM_DELAY){
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if(motors.armed()){
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// arm the motors and configure for flight
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init_disarm_motors();
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}
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// keep going up
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arming_counter++;
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}else{
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arming_counter++;
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}
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}else if (arming_counter == DISARM_DELAY) {
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if(motors.armed()) {
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// arm the motors and configure for flight
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init_disarm_motors();
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}
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// keep going up
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arming_counter++;
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}else{
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arming_counter++;
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}
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// Yaw is centered
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}else{
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arming_counter = 0;
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}
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// Yaw is centered
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}else{
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arming_counter = 0;
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}
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}
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static void init_arm_motors()
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{
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// Flag used to track if we have armed the motors the first time.
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// This is used to decide if we should run the ground_start routine
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// which calibrates the IMU
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static bool did_ground_start = false;
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// Flag used to track if we have armed the motors the first time.
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// This is used to decide if we should run the ground_start routine
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// which calibrates the IMU
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static bool did_ground_start = false;
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//Serial.printf("\nARM\n");
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#if HIL_MODE != HIL_MODE_DISABLED || defined(DESKTOP_BUILD)
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gcs_send_text_P(SEVERITY_HIGH, PSTR("ARMING MOTORS"));
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#endif
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//Serial.printf("\nARM\n");
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#if HIL_MODE != HIL_MODE_DISABLED || defined(DESKTOP_BUILD)
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gcs_send_text_P(SEVERITY_HIGH, PSTR("ARMING MOTORS"));
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#endif
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// we don't want writes to the serial port to cause us to pause
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// mid-flight, so set the serial ports non-blocking once we arm
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@ -118,46 +118,46 @@ static void init_arm_motors()
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if (gcs3.initialised) {
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Serial3.set_blocking_writes(false);
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}
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motors.armed(true);
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motors.armed(true);
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#if COPTER_LEDS == ENABLED
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if ( bitRead(g.copter_leds_mode, 3) ){
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piezo_beep();
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delay(50);
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piezo_beep();
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}
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#endif
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#if COPTER_LEDS == ENABLED
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if ( bitRead(g.copter_leds_mode, 3) ) {
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piezo_beep();
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delay(50);
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piezo_beep();
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}
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#endif
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// Remember Orientation
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// --------------------
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init_simple_bearing();
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// Remember Orientation
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// --------------------
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init_simple_bearing();
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init_z_damper();
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init_z_damper();
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// Reset home position
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// -------------------
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if(home_is_set)
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init_home();
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// Reset home position
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// -------------------
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if(home_is_set)
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init_home();
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// all I terms are invalid
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// -----------------------
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// all I terms are invalid
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// -----------------------
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reset_I_all();
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if(did_ground_start == false){
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did_ground_start = true;
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startup_ground();
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}
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if(did_ground_start == false) {
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did_ground_start = true;
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startup_ground();
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}
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#if HIL_MODE != HIL_MODE_ATTITUDE
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// read Baro pressure at ground -
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// this resets Baro for more accuracy
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//-----------------------------------
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init_barometer();
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#endif
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#if HIL_MODE != HIL_MODE_ATTITUDE
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// read Baro pressure at ground -
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// this resets Baro for more accuracy
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//-----------------------------------
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init_barometer();
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#endif
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// temp hack
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motor_light = true;
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digitalWrite(A_LED_PIN, LED_ON);
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// temp hack
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motor_light = true;
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digitalWrite(A_LED_PIN, LED_ON);
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// go back to normal AHRS gains
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ahrs.set_fast_gains(false);
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@ -166,38 +166,38 @@ static void init_arm_motors()
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static void init_disarm_motors()
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{
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//Serial.printf("\nDISARM\n");
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#if HIL_MODE != HIL_MODE_DISABLED || defined(DESKTOP_BUILD)
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gcs_send_text_P(SEVERITY_HIGH, PSTR("DISARMING MOTORS"));
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#endif
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//Serial.printf("\nDISARM\n");
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#if HIL_MODE != HIL_MODE_DISABLED || defined(DESKTOP_BUILD)
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gcs_send_text_P(SEVERITY_HIGH, PSTR("DISARMING MOTORS"));
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#endif
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motors.armed(false);
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compass.save_offsets();
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motors.armed(false);
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compass.save_offsets();
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g.throttle_cruise.save();
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g.throttle_cruise.save();
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// we are not in the air
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takeoff_complete = false;
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// we are not in the air
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takeoff_complete = false;
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#if COPTER_LEDS == ENABLED
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if ( bitRead(g.copter_leds_mode, 3) ){
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piezo_beep();
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}
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#endif
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#if COPTER_LEDS == ENABLED
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if ( bitRead(g.copter_leds_mode, 3) ) {
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piezo_beep();
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}
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#endif
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// setup fast AHRS gains to get right attitude
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ahrs.set_fast_gains(true);
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}
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/*****************************************
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* Set the flight control servos based on the current calculated values
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*****************************************/
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* Set the flight control servos based on the current calculated values
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*****************************************/
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static void
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set_servos_4()
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{
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// temp fix for bad attitude
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g.rc_3.servo_out = min(g.rc_3.servo_out, 800);
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// temp fix for bad attitude
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g.rc_3.servo_out = min(g.rc_3.servo_out, 800);
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motors.output();
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motors.output();
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}
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