uncrustify ArduCopter/radio.pde
This commit is contained in:
uncrustify
Pat Hickey
parent
bcad02a1ba
commit
c9953574ca
@ -11,13 +11,13 @@ static void default_dead_zones()
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{
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g.rc_1.set_dead_zone(60);
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g.rc_2.set_dead_zone(60);
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#if FRAME_CONFIG == HELI_FRAME
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#if FRAME_CONFIG == HELI_FRAME
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g.rc_3.set_dead_zone(20);
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g.rc_4.set_dead_zone(30);
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#else
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#else
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g.rc_3.set_dead_zone(60);
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g.rc_4.set_dead_zone(80);
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#endif
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#endif
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}
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static void init_rc_in()
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@ -25,12 +25,12 @@ static void init_rc_in()
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// set rc channel ranges
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g.rc_1.set_angle(4500);
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g.rc_2.set_angle(4500);
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#if FRAME_CONFIG == HELI_FRAME
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#if FRAME_CONFIG == HELI_FRAME
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// we do not want to limit the movment of the heli's swash plate
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g.rc_3.set_range(0, 1000);
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#else
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#else
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g.rc_3.set_range(g.throttle_min, g.throttle_max);
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#endif
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#endif
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g.rc_4.set_angle(4500);
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// reverse: CW = left
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@ -55,27 +55,27 @@ static void init_rc_in()
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g.rc_7.set_range(0,1000);
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g.rc_8.set_range(0,1000);
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#if MOUNT == ENABLED
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#if MOUNT == ENABLED
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update_aux_servo_function(&g.rc_9, &g.rc_10, &g.rc_11);
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#endif
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#endif
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}
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static void init_rc_out()
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{
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APM_RC.Init( &isr_registry ); // APM Radio initialization
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#if INSTANT_PWM == 1
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#if INSTANT_PWM == 1
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motors.set_update_rate(AP_MOTORS_SPEED_INSTANT_PWM);
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#else
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#else
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motors.set_update_rate(g.rc_speed);
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#endif
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#endif
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motors.set_frame_orientation(g.frame_orientation);
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motors.Init(); // motor initialisation
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motors.set_min_throttle(g.throttle_min);
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motors.set_max_throttle(g.throttle_max);
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for(byte i = 0; i < 5; i++){
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for(byte i = 0; i < 5; i++) {
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delay(20);
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read_radio();
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}
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@ -84,19 +84,19 @@ static void init_rc_out()
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g.rc_3.set_range_out(0,1000);
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// sanity check - prevent unconfigured radios from outputting
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if(g.rc_3.radio_min >= 1300){
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if(g.rc_3.radio_min >= 1300) {
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g.rc_3.radio_min = g.rc_3.radio_in;
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}
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// we are full throttle
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if(g.rc_3.control_in >= (MAXIMUM_THROTTLE - 50)){
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if(g.esc_calibrate == 0){
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if(g.rc_3.control_in >= (MAXIMUM_THROTTLE - 50)) {
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if(g.esc_calibrate == 0) {
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// we will enter esc_calibrate mode on next reboot
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g.esc_calibrate.set_and_save(1);
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// send miinimum throttle out to ESC
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motors.output_min();
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// block until we restart
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while(1){
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while(1) {
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//Serial.println("esc");
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delay(200);
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dancing_light();
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@ -117,11 +117,11 @@ static void init_rc_out()
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output_min();
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}
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#if TOY_EDF == ENABLED
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#if TOY_EDF == ENABLED
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// add access to CH8 and CH6
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APM_RC.enable_out(CH_8);
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APM_RC.enable_out(CH_6);
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#endif
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#endif
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}
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void output_min()
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@ -132,7 +132,7 @@ void output_min()
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}
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static void read_radio()
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{
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if (APM_RC.GetState() == 1){
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if (APM_RC.GetState() == 1) {
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new_radio_frame = true;
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g.rc_1.set_pwm(APM_RC.InputCh(CH_1));
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g.rc_2.set_pwm(APM_RC.InputCh(CH_2));
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@ -143,10 +143,10 @@ static void read_radio()
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g.rc_7.set_pwm(APM_RC.InputCh(CH_7));
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g.rc_8.set_pwm(APM_RC.InputCh(CH_8));
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#if FRAME_CONFIG != HELI_FRAME
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#if FRAME_CONFIG != HELI_FRAME
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// limit our input to 800 so we can still pitch and roll
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g.rc_3.control_in = min(g.rc_3.control_in, MAXIMUM_THROTTLE);
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#endif
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#endif
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throttle_failsafe(g.rc_3.radio_in);
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}
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@ -160,39 +160,39 @@ static void throttle_failsafe(uint16_t pwm)
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//check for failsafe and debounce funky reads
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// ------------------------------------------
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if (pwm < (unsigned)g.throttle_fs_value){
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if (pwm < (unsigned)g.throttle_fs_value) {
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// we detect a failsafe from radio
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// throttle has dropped below the mark
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failsafeCounter++;
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if (failsafeCounter == FS_COUNTER-1){
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if (failsafeCounter == FS_COUNTER-1) {
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// called right before trigger
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// do nothing
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}else if(failsafeCounter == FS_COUNTER) {
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// Don't enter Failsafe if we are not armed
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// home distance is in meters
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// This is to prevent accidental RTL
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if(motors.armed() && takeoff_complete){
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if(motors.armed() && takeoff_complete) {
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SendDebug("MSG FS ON ");
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SendDebugln(pwm, DEC);
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set_failsafe(true);
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}
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}else if (failsafeCounter > FS_COUNTER){
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}else if (failsafeCounter > FS_COUNTER) {
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failsafeCounter = FS_COUNTER+1;
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}
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}else if(failsafeCounter > 0){
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}else if(failsafeCounter > 0) {
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// we are no longer in failsafe condition
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// but we need to recover quickly
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failsafeCounter--;
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if (failsafeCounter > 3){
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if (failsafeCounter > 3) {
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failsafeCounter = 3;
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}
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if (failsafeCounter == 1){
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if (failsafeCounter == 1) {
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SendDebug("MSG FS OFF ");
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SendDebugln(pwm, DEC);
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}else if(failsafeCounter == 0) {
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set_failsafe(false);
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}else if (failsafeCounter <0){
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}else if (failsafeCounter <0) {
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failsafeCounter = -1;
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}
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}
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@ -200,7 +200,7 @@ static void throttle_failsafe(uint16_t pwm)
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static void trim_radio()
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{
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for (byte i = 0; i < 30; i++){
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for (byte i = 0; i < 30; i++) {
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read_radio();
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}
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