ACM : formatting
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Jason Short
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5cb5618814
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d2a0913b2d
@ -64,27 +64,27 @@
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#include <AP_Common.h>
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#include <AP_Menu.h>
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#include <Arduino_Mega_ISR_Registry.h>
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#include <APM_RC.h> // ArduPilot Mega RC Library
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#include <AP_GPS.h> // ArduPilot GPS library
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#include <I2C.h> // Arduino I2C lib
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#include <SPI.h> // Arduino SPI lib
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#include <APM_RC.h> // ArduPilot Mega RC Library
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#include <AP_GPS.h> // ArduPilot GPS library
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#include <I2C.h> // Arduino I2C lib
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#include <SPI.h> // Arduino SPI lib
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#include <SPI3.h> // SPI3 library
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#include <AP_Semaphore.h> // for removing conflict between optical flow and dataflash on SPI3 bus
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#include <DataFlash.h> // ArduPilot Mega Flash Memory Library
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#include <AP_ADC.h> // ArduPilot Mega Analog to Digital Converter Library
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#include <AP_Semaphore.h> // for removing conflict between optical flow and dataflash on SPI3 bus
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#include <DataFlash.h> // ArduPilot Mega Flash Memory Library
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#include <AP_ADC.h> // ArduPilot Mega Analog to Digital Converter Library
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#include <AP_AnalogSource.h>
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#include <AP_Baro.h>
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#include <AP_Compass.h> // ArduPilot Mega Magnetometer Library
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#include <AP_Math.h> // ArduPilot Mega Vector/Matrix math Library
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#include <AP_Curve.h> // Curve used to linearlise throttle pwm to thrust
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#include <AP_InertialSensor.h> // ArduPilot Mega Inertial Sensor (accel & gyro) Library
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#include <AP_PeriodicProcess.h> // Parent header of Timer
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// (only included for makefile libpath to work)
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#include <AP_TimerProcess.h> // TimerProcess is the scheduler for MPU6000 reads.
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#include <AP_Compass.h> // ArduPilot Mega Magnetometer Library
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#include <AP_Math.h> // ArduPilot Mega Vector/Matrix math Library
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#include <AP_Curve.h> // Curve used to linearlise throttle pwm to thrust
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#include <AP_InertialSensor.h> // ArduPilot Mega Inertial Sensor (accel & gyro) Library
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#include <AP_PeriodicProcess.h> // Parent header of Timer
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// (only included for makefile libpath to work)
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#include <AP_TimerProcess.h> // TimerProcess is the scheduler for MPU6000 reads.
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#include <AP_AHRS.h>
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#include <APM_PI.h> // PI library
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#include <AC_PID.h> // PID library
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#include <RC_Channel.h> // RC Channel Library
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#include <AC_PID.h> // PID library
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#include <RC_Channel.h> // RC Channel Library
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#include <AP_Motors.h> // AP Motors library
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#include <AP_MotorsQuad.h> // AP Motors library for Quad
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#include <AP_MotorsTri.h> // AP Motors library for Tri
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@ -95,16 +95,16 @@
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#include <AP_MotorsHeli.h> // AP Motors library for Heli
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#include <AP_MotorsMatrix.h> // AP Motors library for Heli
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#include <AP_RangeFinder.h> // Range finder library
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#include <AP_OpticalFlow.h> // Optical Flow library
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#include <Filter.h> // Filter library
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#include <AP_Buffer.h> // APM FIFO Buffer
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#include <AP_OpticalFlow.h> // Optical Flow library
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#include <Filter.h> // Filter library
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#include <AP_Buffer.h> // APM FIFO Buffer
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#include <ModeFilter.h> // Mode Filter from Filter library
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#include <AverageFilter.h> // Mode Filter from Filter library
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#include <AP_LeadFilter.h> // GPS Lead filter
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#include <AP_Relay.h> // APM relay
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#include <AP_Camera.h> // Photo or video camera
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#include <AP_Mount.h> // Camera/Antenna mount
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#include <AP_Airspeed.h> // needed for AHRS build
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#include <AP_Airspeed.h> // needed for AHRS build
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#include <AP_InertialNav.h> // ArduPilot Mega inertial navigation library
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#include <ThirdOrderCompFilter.h> // Complementary filter for combining barometer altitude with accelerometers
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#include <memcheck.h>
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@ -114,19 +114,19 @@
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#include "config.h"
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#include "config_channels.h"
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#include <GCS_MAVLink.h> // MAVLink GCS definitions
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#include <GCS_MAVLink.h> // MAVLink GCS definitions
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// Local modules
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#include "Parameters.h"
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#include "GCS.h"
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#include <AP_Declination.h> // ArduPilot Mega Declination Helper Library
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#include <AP_Declination.h> // ArduPilot Mega Declination Helper Library
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// Limits library - Puts limits on the vehicle, and takes recovery actions
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#include <AP_Limits.h>
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#include <AP_Limit_GPSLock.h> // a limits library module
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#include <AP_Limit_Geofence.h> // a limits library module
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#include <AP_Limit_Altitude.h> // a limits library module
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#include <AP_Limit_GPSLock.h> // a limits library module
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#include <AP_Limit_Geofence.h> // a limits library module
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#include <AP_Limit_Altitude.h> // a limits library module
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////////////////////////////////////////////////////////////////////////////////
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@ -189,10 +189,10 @@ DataFlash_APM1 DataFlash(&spi_semaphore);
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//
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// There are three basic options related to flight sensor selection.
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//
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// - Normal flight mode. Real sensors are used.
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// - HIL Attitude mode. Most sensors are disabled, as the HIL
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// - Normal flight mode. Real sensors are used.
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// - HIL Attitude mode. Most sensors are disabled, as the HIL
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// protocol supplies attitude information directly.
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// - HIL Sensors mode. Synthetic sensors are configured that
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// - HIL Sensors mode. Synthetic sensors are configured that
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// supply data from the simulation.
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//
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@ -288,23 +288,24 @@ AP_AHRS_MPU6000 ahrs2(&ins, g_gps); // only works with APM2
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#elif HIL_MODE == HIL_MODE_SENSORS
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// sensor emulators
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AP_ADC_HIL adc;
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AP_Baro_BMP085_HIL barometer;
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AP_Compass_HIL compass;
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AP_ADC_HIL adc;
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AP_Baro_BMP085_HIL barometer;
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AP_Compass_HIL compass;
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AP_GPS_HIL g_gps_driver(NULL);
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AP_InertialSensor_Stub ins;
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AP_AHRS_DCM ahrs(&ins, g_gps);
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AP_InertialSensor_Stub ins;
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AP_AHRS_DCM ahrs(&ins, g_gps);
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static int32_t gps_base_alt;
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#elif HIL_MODE == HIL_MODE_ATTITUDE
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AP_ADC_HIL adc;
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AP_InertialSensor_Stub ins;
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AP_ADC_HIL adc;
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AP_InertialSensor_Stub ins;
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AP_AHRS_HIL ahrs(&ins, g_gps);
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AP_GPS_HIL g_gps_driver(NULL);
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AP_Compass_HIL compass; // never used
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AP_Baro_BMP085_HIL barometer;
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AP_Compass_HIL compass; // never used
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AP_Baro_BMP085_HIL barometer;
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#ifdef OPTFLOW_ENABLED
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#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM2
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AP_OpticalFlow_ADNS3080 optflow(OPTFLOW_CS_PIN);
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@ -407,34 +408,34 @@ static byte oldSwitchPosition;
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// This was added to try and deal with biger motors
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//static int16_t motor_filtered[11];
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#if FRAME_CONFIG == QUAD_FRAME
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#if FRAME_CONFIG == QUAD_FRAME
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#define MOTOR_CLASS AP_MotorsQuad
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#endif
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#if FRAME_CONFIG == TRI_FRAME
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#if FRAME_CONFIG == TRI_FRAME
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#define MOTOR_CLASS AP_MotorsTri
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#endif
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#if FRAME_CONFIG == HEXA_FRAME
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#if FRAME_CONFIG == HEXA_FRAME
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#define MOTOR_CLASS AP_MotorsHexa
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#endif
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#if FRAME_CONFIG == Y6_FRAME
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#if FRAME_CONFIG == Y6_FRAME
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#define MOTOR_CLASS AP_MotorsY6
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#endif
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#if FRAME_CONFIG == OCTA_FRAME
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#if FRAME_CONFIG == OCTA_FRAME
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#define MOTOR_CLASS AP_MotorsOcta
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#endif
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#if FRAME_CONFIG == OCTA_QUAD_FRAME
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#if FRAME_CONFIG == OCTA_QUAD_FRAME
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#define MOTOR_CLASS AP_MotorsOctaQuad
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#endif
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#if FRAME_CONFIG == HELI_FRAME
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#if FRAME_CONFIG == HELI_FRAME
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#define MOTOR_CLASS AP_MotorsHeli
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#endif
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#if FRAME_CONFIG == HELI_FRAME // helicopter constructor requires more arguments
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MOTOR_CLASS motors(CONFIG_APM_HARDWARE, &APM_RC, &g.rc_1, &g.rc_2, &g.rc_3, &g.rc_4, &g.rc_8, &g.heli_servo_1, &g.heli_servo_2, &g.heli_servo_3, &g.heli_servo_4);
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#if FRAME_CONFIG == HELI_FRAME // helicopter constructor requires more arguments
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MOTOR_CLASS motors(CONFIG_APM_HARDWARE, &APM_RC, &g.rc_1, &g.rc_2, &g.rc_3, &g.rc_4, &g.rc_8, &g.heli_servo_1, &g.heli_servo_2, &g.heli_servo_3, &g.heli_servo_4);
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#elif FRAME_CONFIG == TRI_FRAME // tri constructor requires additional rc_7 argument to allow tail servo reversing
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MOTOR_CLASS motors(CONFIG_APM_HARDWARE, &APM_RC, &g.rc_1, &g.rc_2, &g.rc_3, &g.rc_4, &g.rc_7);
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MOTOR_CLASS motors(CONFIG_APM_HARDWARE, &APM_RC, &g.rc_1, &g.rc_2, &g.rc_3, &g.rc_4, &g.rc_7);
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#else
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MOTOR_CLASS motors(CONFIG_APM_HARDWARE, &APM_RC, &g.rc_1, &g.rc_2, &g.rc_3, &g.rc_4);
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MOTOR_CLASS motors(CONFIG_APM_HARDWARE, &APM_RC, &g.rc_1, &g.rc_2, &g.rc_3, &g.rc_4);
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#endif
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////////////////////////////////////////////////////////////////////////////////
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@ -492,22 +493,22 @@ static int8_t copter_leds_nav_blink = 0;
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// This is used to scale GPS values for EEPROM storage
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// 10^7 times Decimal GPS means 1 == 1cm
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// This approximation makes calculations integer and it's easy to read
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static const float t7 = 10000000.0;
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static const float t7 = 10000000.0;
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// We use atan2 and other trig techniques to calaculate angles
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// We need to scale the longitude up to make these calcs work
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// to account for decreasing distance between lines of longitude away from the equator
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static float scaleLongUp = 1;
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static float scaleLongUp = 1;
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// Sometimes we need to remove the scaling for distance calcs
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static float scaleLongDown = 1;
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static float scaleLongDown = 1;
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////////////////////////////////////////////////////////////////////////////////
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// Mavlink specific
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////////////////////////////////////////////////////////////////////////////////
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// Used by Mavlink for unknow reasons
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static const float radius_of_earth = 6378100; // meters
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static const float radius_of_earth = 6378100; // meters
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// Used by Mavlink for unknow reasons
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static const float gravity = 9.80665; // meters/ sec^2
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static const float gravity = 9.80665; // meters/ sec^2
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// Unions for getting byte values
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union float_int {
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@ -932,15 +933,10 @@ AP_Mount camera_mount2(¤t_loc, g_gps, &ahrs, 1);
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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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AP_Limits limits;
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AP_Limits limits;
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AP_Limit_GPSLock gpslock_limit(g_gps);
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AP_Limit_Geofence geofence_limit(FENCE_START_BYTE, FENCE_WP_SIZE, MAX_FENCEPOINTS, g_gps, &home, ¤t_loc);
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AP_Limit_Altitude altitude_limit(¤t_loc);
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#endif
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////////////////////////////////////////////////////////////////////////////////
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