From 84f70f722d0a6b0047a433200d95ff22a1587131 Mon Sep 17 00:00:00 2001 From: Pierre Kancir Date: Tue, 20 Dec 2016 14:30:57 +0100 Subject: [PATCH] Rover: Rover.h correct whitespace, remove tabs --- APMrover2/Rover.h | 102 +++++++++++++++++++++++----------------------- 1 file changed, 51 insertions(+), 51 deletions(-) diff --git a/APMrover2/Rover.h b/APMrover2/Rover.h index 84ad203076..b218632041 100644 --- a/APMrover2/Rover.h +++ b/APMrover2/Rover.h @@ -26,37 +26,37 @@ #include #include #include -#include // ArduPilot GPS library -#include // ArduPilot Mega Analog to Digital Converter Library +#include // ArduPilot GPS library +#include // ArduPilot Mega Analog to Digital Converter Library #include -#include // ArduPilot Mega Magnetometer Library -#include // ArduPilot Mega Vector/Matrix math Library -#include // Inertial Sensor (uncalibated IMU) Library +#include // ArduPilot Mega Magnetometer Library +#include // ArduPilot Mega Vector/Matrix math Library +#include // Inertial Sensor (uncalibated IMU) Library #include // interface and maths for accelerometer calibration -#include // ArduPilot Mega DCM Library +#include // ArduPilot Mega DCM Library #include #include -#include // Mission command library +#include // Mission command library #include #include -#include // PID library -#include // RC Channel Library -#include // Range finder library -#include // Filter library -#include // Filter library - butterworth filter -#include // FIFO buffer library -#include // Mode Filter from Filter library -#include // Mode Filter from Filter library -#include // APM relay +#include // PID library +#include // RC Channel Library +#include // Range finder library +#include // Filter library +#include // Filter library - butterworth filter +#include // FIFO buffer library +#include // Mode Filter from Filter library +#include // Mode Filter from Filter library +#include // APM relay #include -#include // Camera/Antenna mount -#include // Camera triggering -#include // Serial manager library -#include // needed for AHRS build -#include // needed for AHRS build +#include // Camera/Antenna mount +#include // Camera triggering +#include // Serial manager library +#include // needed for AHRS build +#include // needed for AHRS build #include -#include // RC input mapping library -#include // main loop scheduler +#include // RC input mapping library +#include // main loop scheduler #include #include #include @@ -66,12 +66,12 @@ #include #include "compat.h" -#include // Notify library -#include // Battery monitor library -#include // Optical Flow library -#include // RSSI Library +#include // Notify library +#include // Battery monitor library +#include // Optical Flow library +#include // RSSI Library #include -#include // statistics library +#include // statistics library #include // Configuration @@ -82,7 +82,7 @@ #include "Parameters.h" #include "GCS_Mavlink.h" -#include // ArduPilot Mega Declination Helper Library +#include // ArduPilot Mega Declination Helper Library #if CONFIG_HAL_BOARD == HAL_BOARD_SITL #include @@ -139,9 +139,9 @@ private: AP_Button button; // flight modes convenience array - AP_Int8 *modes; + AP_Int8 *modes; -// Inertial Navigation EKF + // Inertial Navigation EKF #if AP_AHRS_NAVEKF_AVAILABLE NavEKF2 EKF2{&ahrs, barometer, sonar}; NavEKF3 EKF3{&ahrs, barometer, sonar}; @@ -150,7 +150,7 @@ private: AP_AHRS_DCM ahrs {ins, barometer, gps}; #endif - // Arming/Disarming mangement class + // Arming/Disarming management class AP_Arming arming {ahrs, barometer, compass, battery, home_is_set}; AP_L1_Control L1_controller; @@ -167,9 +167,9 @@ private: #if AP_AHRS_NAVEKF_AVAILABLE OpticalFlow optflow{ahrs}; #endif - - // RSSI - AP_RSSI rssi; + + // RSSI + AP_RSSI rssi; #if CONFIG_HAL_BOARD == HAL_BOARD_SITL SITL::SITL sitl; @@ -195,7 +195,7 @@ private: // Camera/Antenna mount tracking and stabilisation stuff #if MOUNT == ENABLED - // current_loc uses the baro/gps soloution for altitude rather than gps only. + // current_loc uses the baro/gps solution for altitude rather than gps only. AP_Mount camera_mount; #endif @@ -220,7 +220,7 @@ private: // Failsafe // A tracking variable for type of failsafe active - // Used for failsafe based on loss of RC signal or GCS signal. See + // Used for failsafe based on loss of RC signal or GCS signal. See // FAILSAFE_EVENT_* struct { uint8_t bits; @@ -246,7 +246,7 @@ private: int32_t next_navigation_leg_cd; // ground speed error in m/s - float groundspeed_error; + float groundspeed_error; // 0-(throttle_max - throttle_cruise) : throttle nudge in Auto mode using top 1/2 of throttle stick travel int16_t throttle_nudge; @@ -264,7 +264,7 @@ private: float turn_angle; uint16_t sonar1_distance_cm; uint16_t sonar2_distance_cm; - + // time when we last detected an obstacle, in milliseconds uint32_t detected_time_ms; } obstacle; @@ -274,7 +274,7 @@ private: // Ground speed // The amount current ground speed is below min ground speed. meters per second - float ground_speed; + float ground_speed; int16_t throttle_last; int16_t throttle; @@ -312,7 +312,7 @@ private: int32_t condition_value; // A starting value used to check the status of a conditional command. // For example in a delay command the condition_start records that start time for the delay - int32_t condition_start; + int32_t condition_start; // 3D Location vectors // Location structure defined in AP_Common @@ -332,16 +332,16 @@ private: // IMU variables // The main loop execution time. Seconds // This is the time between calls to the DCM algorithm and is the Integration time for the gyros. - float G_Dt; + float G_Dt; // Performance monitoring // Timer used to accrue data and trigger recording of the performanc monitoring log message - int32_t perf_mon_timer; + int32_t perf_mon_timer; // The maximum main loop execution time recorded in the current performance monitoring interval uint32_t G_Dt_max; // System Timers - // Time in microseconds of start of main control loop. + // Time in microseconds of start of main control loop. uint32_t fast_loopTimer_us; // Number of milliseconds used in last main loop cycle uint32_t delta_us_fast_loop; @@ -363,11 +363,11 @@ private: static const LogStructure log_structure[]; // Loiter control - uint16_t loiter_duration; // How long we should loiter at the nav_waypoint (time in seconds) + uint16_t loiter_duration; // How long we should loiter at the nav_waypoint (time in seconds) uint32_t loiter_start_time; // How long have we been loitering - The start time in millis - bool active_loiter; // TRUE if we actively return to the loitering waypoint if we drift off - float distance_past_wp; // record the distance we have gone past the wp - bool previously_reached_wp; // set to true if we have EVER reached the waypoint + bool active_loiter; // TRUE if we actively return to the loitering waypoint if we drift off + float distance_past_wp; // record the distance we have gone past the wp + bool previously_reached_wp; // set to true if we have EVER reached the waypoint // time that rudder/steering arming has been running uint32_t rudder_arm_timer; @@ -393,7 +393,7 @@ private: // private member functions void ahrs_update(); void mount_update(void); - void update_trigger(void); + void update_trigger(void); void update_alt(); void gcs_failsafe_check(void); void compass_accumulate(void); @@ -444,7 +444,7 @@ private: void Log_Write_Vehicle_Startup_Messages(); void Log_Read(uint16_t log_num, uint16_t start_page, uint16_t end_page); void log_init(void); - void start_logging() ; + void start_logging(); void Log_Arm_Disarm(); void load_parameters(void); @@ -516,7 +516,7 @@ private: void check_usb_mux(void); uint8_t check_digital_pin(uint8_t pin); bool should_log(uint32_t mask); - void print_hit_enter(); + void print_hit_enter(); void gcs_send_text_fmt(MAV_SEVERITY severity, const char *fmt, ...); void print_mode(AP_HAL::BetterStream *port, uint8_t mode); bool start_command(const AP_Mission::Mission_Command& cmd);