Rover: Rover.h correct whitespace, remove tabs
This commit is contained in:
Pierre Kancir
Randy Mackay
parent
0f89f6918e
commit
84f70f722d
@ -26,37 +26,37 @@
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#include <AP_Menu/AP_Menu.h>
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#include <AP_Param/AP_Param.h>
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#include <StorageManager/StorageManager.h>
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#include <AP_GPS/AP_GPS.h> // ArduPilot GPS library
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#include <AP_ADC/AP_ADC.h> // ArduPilot Mega Analog to Digital Converter Library
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#include <AP_GPS/AP_GPS.h> // ArduPilot GPS library
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#include <AP_ADC/AP_ADC.h> // ArduPilot Mega Analog to Digital Converter Library
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#include <AP_Baro/AP_Baro.h>
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#include <AP_Compass/AP_Compass.h> // ArduPilot Mega Magnetometer Library
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#include <AP_Math/AP_Math.h> // ArduPilot Mega Vector/Matrix math Library
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#include <AP_InertialSensor/AP_InertialSensor.h> // Inertial Sensor (uncalibated IMU) Library
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#include <AP_Compass/AP_Compass.h> // ArduPilot Mega Magnetometer Library
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#include <AP_Math/AP_Math.h> // ArduPilot Mega Vector/Matrix math Library
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#include <AP_InertialSensor/AP_InertialSensor.h> // Inertial Sensor (uncalibated IMU) Library
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#include <AP_AccelCal/AP_AccelCal.h> // interface and maths for accelerometer calibration
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#include <AP_AHRS/AP_AHRS.h> // ArduPilot Mega DCM Library
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#include <AP_AHRS/AP_AHRS.h> // ArduPilot Mega DCM Library
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#include <AP_NavEKF2/AP_NavEKF2.h>
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#include <AP_NavEKF3/AP_NavEKF3.h>
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#include <AP_Mission/AP_Mission.h> // Mission command library
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#include <AP_Mission/AP_Mission.h> // Mission command library
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#include <AP_Rally/AP_Rally.h>
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#include <AP_Terrain/AP_Terrain.h>
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#include <PID/PID.h> // PID library
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#include <RC_Channel/RC_Channel.h> // RC Channel Library
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#include <AP_RangeFinder/AP_RangeFinder.h> // Range finder library
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#include <Filter/Filter.h> // Filter library
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#include <Filter/Butter.h> // Filter library - butterworth filter
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#include <AP_Buffer/AP_Buffer.h> // FIFO buffer library
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#include <Filter/ModeFilter.h> // Mode Filter from Filter library
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#include <Filter/AverageFilter.h> // Mode Filter from Filter library
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#include <AP_Relay/AP_Relay.h> // APM relay
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#include <PID/PID.h> // PID library
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#include <RC_Channel/RC_Channel.h> // RC Channel Library
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#include <AP_RangeFinder/AP_RangeFinder.h> // Range finder library
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#include <Filter/Filter.h> // Filter library
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#include <Filter/Butter.h> // Filter library - butterworth filter
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#include <AP_Buffer/AP_Buffer.h> // FIFO buffer library
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#include <Filter/ModeFilter.h> // Mode Filter from Filter library
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#include <Filter/AverageFilter.h> // Mode Filter from Filter library
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#include <AP_Relay/AP_Relay.h> // APM relay
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#include <AP_ServoRelayEvents/AP_ServoRelayEvents.h>
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#include <AP_Mount/AP_Mount.h> // Camera/Antenna mount
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#include <AP_Camera/AP_Camera.h> // Camera triggering
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#include <AP_SerialManager/AP_SerialManager.h> // Serial manager library
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#include <AP_Airspeed/AP_Airspeed.h> // needed for AHRS build
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#include <AP_Vehicle/AP_Vehicle.h> // needed for AHRS build
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#include <AP_Mount/AP_Mount.h> // Camera/Antenna mount
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#include <AP_Camera/AP_Camera.h> // Camera triggering
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#include <AP_SerialManager/AP_SerialManager.h> // Serial manager library
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#include <AP_Airspeed/AP_Airspeed.h> // needed for AHRS build
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#include <AP_Vehicle/AP_Vehicle.h> // needed for AHRS build
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#include <DataFlash/DataFlash.h>
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#include <AP_RCMapper/AP_RCMapper.h> // RC input mapping library
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#include <AP_Scheduler/AP_Scheduler.h> // main loop scheduler
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#include <AP_RCMapper/AP_RCMapper.h> // RC input mapping library
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#include <AP_Scheduler/AP_Scheduler.h> // main loop scheduler
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#include <AP_Navigation/AP_Navigation.h>
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#include <APM_Control/APM_Control.h>
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#include <AP_L1_Control/AP_L1_Control.h>
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@ -66,12 +66,12 @@
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#include <AP_Arming/AP_Arming.h>
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#include "compat.h"
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#include <AP_Notify/AP_Notify.h> // Notify library
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#include <AP_BattMonitor/AP_BattMonitor.h> // Battery monitor library
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#include <AP_OpticalFlow/AP_OpticalFlow.h> // Optical Flow library
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#include <AP_RSSI/AP_RSSI.h> // RSSI Library
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#include <AP_Notify/AP_Notify.h> // Notify library
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#include <AP_BattMonitor/AP_BattMonitor.h> // Battery monitor library
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#include <AP_OpticalFlow/AP_OpticalFlow.h> // Optical Flow library
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#include <AP_RSSI/AP_RSSI.h> // RSSI Library
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#include <AP_Button/AP_Button.h>
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#include <AP_Stats/AP_Stats.h> // statistics library
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#include <AP_Stats/AP_Stats.h> // statistics library
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#include <AP_Beacon/AP_Beacon.h>
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// Configuration
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@ -82,7 +82,7 @@
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#include "Parameters.h"
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#include "GCS_Mavlink.h"
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#include <AP_Declination/AP_Declination.h> // ArduPilot Mega Declination Helper Library
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#include <AP_Declination/AP_Declination.h> // ArduPilot Mega Declination Helper Library
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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#include <SITL/SITL.h>
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@ -139,9 +139,9 @@ private:
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AP_Button button;
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// flight modes convenience array
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AP_Int8 *modes;
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AP_Int8 *modes;
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// Inertial Navigation EKF
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// Inertial Navigation EKF
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#if AP_AHRS_NAVEKF_AVAILABLE
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NavEKF2 EKF2{&ahrs, barometer, sonar};
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NavEKF3 EKF3{&ahrs, barometer, sonar};
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@ -150,7 +150,7 @@ private:
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AP_AHRS_DCM ahrs {ins, barometer, gps};
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#endif
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// Arming/Disarming mangement class
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// Arming/Disarming management class
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AP_Arming arming {ahrs, barometer, compass, battery, home_is_set};
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AP_L1_Control L1_controller;
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@ -167,9 +167,9 @@ private:
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#if AP_AHRS_NAVEKF_AVAILABLE
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OpticalFlow optflow{ahrs};
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#endif
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// RSSI
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AP_RSSI rssi;
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// RSSI
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AP_RSSI rssi;
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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SITL::SITL sitl;
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@ -195,7 +195,7 @@ private:
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// Camera/Antenna mount tracking and stabilisation stuff
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#if MOUNT == ENABLED
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// current_loc uses the baro/gps soloution for altitude rather than gps only.
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// current_loc uses the baro/gps solution for altitude rather than gps only.
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AP_Mount camera_mount;
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#endif
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@ -220,7 +220,7 @@ private:
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// Failsafe
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// A tracking variable for type of failsafe active
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// Used for failsafe based on loss of RC signal or GCS signal. See
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// Used for failsafe based on loss of RC signal or GCS signal. See
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// FAILSAFE_EVENT_*
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struct {
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uint8_t bits;
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@ -246,7 +246,7 @@ private:
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int32_t next_navigation_leg_cd;
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// ground speed error in m/s
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float groundspeed_error;
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float groundspeed_error;
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// 0-(throttle_max - throttle_cruise) : throttle nudge in Auto mode using top 1/2 of throttle stick travel
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int16_t throttle_nudge;
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@ -264,7 +264,7 @@ private:
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float turn_angle;
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uint16_t sonar1_distance_cm;
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uint16_t sonar2_distance_cm;
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// time when we last detected an obstacle, in milliseconds
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uint32_t detected_time_ms;
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} obstacle;
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@ -274,7 +274,7 @@ private:
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// Ground speed
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// The amount current ground speed is below min ground speed. meters per second
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float ground_speed;
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float ground_speed;
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int16_t throttle_last;
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int16_t throttle;
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@ -312,7 +312,7 @@ private:
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int32_t condition_value;
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// A starting value used to check the status of a conditional command.
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// For example in a delay command the condition_start records that start time for the delay
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int32_t condition_start;
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int32_t condition_start;
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// 3D Location vectors
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// Location structure defined in AP_Common
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@ -332,16 +332,16 @@ private:
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// IMU variables
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// The main loop execution time. Seconds
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// This is the time between calls to the DCM algorithm and is the Integration time for the gyros.
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float G_Dt;
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float G_Dt;
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// Performance monitoring
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// Timer used to accrue data and trigger recording of the performanc monitoring log message
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int32_t perf_mon_timer;
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int32_t perf_mon_timer;
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// The maximum main loop execution time recorded in the current performance monitoring interval
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uint32_t G_Dt_max;
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// System Timers
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// Time in microseconds of start of main control loop.
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// Time in microseconds of start of main control loop.
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uint32_t fast_loopTimer_us;
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// Number of milliseconds used in last main loop cycle
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uint32_t delta_us_fast_loop;
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@ -363,11 +363,11 @@ private:
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static const LogStructure log_structure[];
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// Loiter control
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uint16_t loiter_duration; // How long we should loiter at the nav_waypoint (time in seconds)
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uint16_t loiter_duration; // How long we should loiter at the nav_waypoint (time in seconds)
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uint32_t loiter_start_time; // How long have we been loitering - The start time in millis
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bool active_loiter; // TRUE if we actively return to the loitering waypoint if we drift off
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float distance_past_wp; // record the distance we have gone past the wp
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bool previously_reached_wp; // set to true if we have EVER reached the waypoint
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bool active_loiter; // TRUE if we actively return to the loitering waypoint if we drift off
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float distance_past_wp; // record the distance we have gone past the wp
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bool previously_reached_wp; // set to true if we have EVER reached the waypoint
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// time that rudder/steering arming has been running
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uint32_t rudder_arm_timer;
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@ -393,7 +393,7 @@ private:
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// private member functions
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void ahrs_update();
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void mount_update(void);
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void update_trigger(void);
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void update_trigger(void);
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void update_alt();
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void gcs_failsafe_check(void);
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void compass_accumulate(void);
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@ -444,7 +444,7 @@ private:
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void Log_Write_Vehicle_Startup_Messages();
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void Log_Read(uint16_t log_num, uint16_t start_page, uint16_t end_page);
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void log_init(void);
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void start_logging() ;
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void start_logging();
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void Log_Arm_Disarm();
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void load_parameters(void);
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@ -516,7 +516,7 @@ private:
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void check_usb_mux(void);
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uint8_t check_digital_pin(uint8_t pin);
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bool should_log(uint32_t mask);
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void print_hit_enter();
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void print_hit_enter();
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void gcs_send_text_fmt(MAV_SEVERITY severity, const char *fmt, ...);
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void print_mode(AP_HAL::BetterStream *port, uint8_t mode);
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bool start_command(const AP_Mission::Mission_Command& cmd);
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