From 25fbfeb5cfc7a1d434d0ffa90bd2fca81c51f742 Mon Sep 17 00:00:00 2001 From: Pierre Kancir Date: Tue, 20 Dec 2016 14:33:36 +0100 Subject: [PATCH] Rover: radio.cpp correct whitespace, remove tabs --- APMrover2/radio.cpp | 125 +++++++++++++++++++++----------------------- 1 file changed, 61 insertions(+), 64 deletions(-) diff --git a/APMrover2/radio.cpp b/APMrover2/radio.cpp index 13b9b772e9..58bc9707d7 100644 --- a/APMrover2/radio.cpp +++ b/APMrover2/radio.cpp @@ -9,8 +9,8 @@ void Rover::set_control_channels(void) channel_throttle = RC_Channel::rc_channel(rcmap.throttle()-1); channel_learn = RC_Channel::rc_channel(g.learn_channel-1); - // set rc channel ranges - channel_steer->set_angle(SERVO_MAX); + // set rc channel ranges + channel_steer->set_angle(SERVO_MAX); channel_throttle->set_angle(100); // For a rover safety is TRIM throttle @@ -20,19 +20,18 @@ void Rover::set_control_channels(void) hal.rcout->set_safety_pwm(1UL<<(rcmap.roll()-1), channel_steer->get_radio_trim()); } } - // setup correct scaling for ESCs like the UAVCAN PX4ESC which - // take a proportion of speed. + // take a proportion of speed. hal.rcout->set_esc_scaling(channel_throttle->get_radio_min(), channel_throttle->get_radio_max()); } void Rover::init_rc_in() { - // set rc dead zones - channel_steer->set_default_dead_zone(30); - channel_throttle->set_default_dead_zone(30); + // set rc dead zones + channel_steer->set_default_dead_zone(30); + channel_throttle->set_default_dead_zone(30); - //set auxiliary ranges + // set auxiliary ranges update_aux(); } @@ -48,10 +47,10 @@ void Rover::init_rc_out() } } - RC_Channel::output_trim_all(); + RC_Channel::output_trim_all(); // setup PWM values to send if the FMU firmware dies - RC_Channel::setup_failsafe_trim_all(); + RC_Channel::setup_failsafe_trim_all(); // output throttle trim when safety off if arming // is setup for min on disarm. MIN is from plane where MIN is effectively no throttle. @@ -83,48 +82,47 @@ void Rover::rudder_arm_disarm_check() return; } - if (!arming.is_armed()) { - // when not armed, full right rudder starts arming counter - if (channel_steer->get_control_in() > 4000) { - uint32_t now = millis(); - - if (rudder_arm_timer == 0 || - now - rudder_arm_timer < 3000) { + if (!arming.is_armed()) { + // when not armed, full right rudder starts arming counter + if (channel_steer->get_control_in() > 4000) { + uint32_t now = millis(); - if (rudder_arm_timer == 0) { + if (rudder_arm_timer == 0 || + now - rudder_arm_timer < 3000) { + if (rudder_arm_timer == 0) { rudder_arm_timer = now; } - } else { - //time to arm! - arm_motors(AP_Arming::RUDDER); - rudder_arm_timer = 0; - } - } else { - // not at full right rudder - rudder_arm_timer = 0; - } - } else if (!motor_active() & !g.skid_steer_out) { - // when armed and motor not active (not moving), full left rudder starts disarming counter + } else { + // time to arm! + arm_motors(AP_Arming::RUDDER); + rudder_arm_timer = 0; + } + } else { + // not at full right rudder + rudder_arm_timer = 0; + } + } else if (!motor_active() & !g.skid_steer_out) { + // when armed and motor not active (not moving), full left rudder starts disarming counter // This is disabled for skid steering otherwise when tring to turn a skid steering rover around // the rover would disarm - if (channel_steer->get_control_in() < -4000) { - uint32_t now = millis(); + if (channel_steer->get_control_in() < -4000) { + uint32_t now = millis(); - if (rudder_arm_timer == 0 || - now - rudder_arm_timer < 3000) { - if (rudder_arm_timer == 0) { + if (rudder_arm_timer == 0 || + now - rudder_arm_timer < 3000) { + if (rudder_arm_timer == 0) { rudder_arm_timer = now; } - } else { - //time to disarm! - disarm_motors(); - rudder_arm_timer = 0; - } - } else { - // not at full left rudder - rudder_arm_timer = 0; - } - } + } else { + // time to disarm! + disarm_motors(); + rudder_arm_timer = 0; + } + } else { + // not at full left rudder + rudder_arm_timer = 0; + } + } } void Rover::read_radio() @@ -138,20 +136,20 @@ void Rover::read_radio() RC_Channel::set_pwm_all(); - control_failsafe(channel_throttle->get_radio_in()); + control_failsafe(channel_throttle->get_radio_in()); - channel_throttle->set_servo_out(channel_throttle->get_control_in()); + channel_throttle->set_servo_out(channel_throttle->get_control_in()); // Check if the throttle value is above 50% and we need to nudge // Make sure its above 50% in the direction we are travelling - if ((abs(channel_throttle->get_servo_out()) > 50) && + if ((abs(channel_throttle->get_servo_out()) > 50) && (((channel_throttle->get_servo_out() < 0) && in_reverse) || ((channel_throttle->get_servo_out() > 0) && !in_reverse))) { throttle_nudge = (g.throttle_max - g.throttle_cruise) * ((fabsf(channel_throttle->norm_input())-0.5f) / 0.5f); - } else { - throttle_nudge = 0; - } + } else { + throttle_nudge = 0; + } if (g.skid_steer_in) { // convert the two radio_in values from skid steering values @@ -184,26 +182,25 @@ void Rover::read_radio() } rudder_arm_disarm_check(); - } void Rover::control_failsafe(uint16_t pwm) { - if (!g.fs_throttle_enabled) { + if (!g.fs_throttle_enabled) { // no throttle failsafe - return; + return; } - // Check for failsafe condition based on loss of GCS control - if (rc_override_active) { + // Check for failsafe condition based on loss of GCS control + if (rc_override_active) { failsafe_trigger(FAILSAFE_EVENT_RC, (millis() - failsafe.rc_override_timer) > 1500); - } else if (g.fs_throttle_enabled) { + } else if (g.fs_throttle_enabled) { bool failed = pwm < (uint16_t)g.fs_throttle_value; if (AP_HAL::millis() - failsafe.last_valid_rc_ms > 2000) { failed = true; } failsafe_trigger(FAILSAFE_EVENT_THROTTLE, failed); - } + } } /* @@ -227,11 +224,11 @@ bool Rover::throttle_failsafe_active(void) void Rover::trim_control_surfaces() { - read_radio(); - // Store control surface trim values - // --------------------------------- + read_radio(); + // Store control surface trim values + // --------------------------------- if (channel_steer->get_radio_in() > 1400) { - channel_steer->set_radio_trim(channel_steer->get_radio_in()); + channel_steer->set_radio_trim(channel_steer->get_radio_in()); // save to eeprom channel_steer->save_eeprom(); } @@ -239,8 +236,8 @@ void Rover::trim_control_surfaces() void Rover::trim_radio() { - for (int y = 0; y < 30; y++) { - read_radio(); - } + for (int y = 0; y < 30; y++) { + read_radio(); + } trim_control_surfaces(); }