From 4e3199a9e9c28b8e696aa333fe5c00e2594a8b94 Mon Sep 17 00:00:00 2001 From: uncrustify Date: Thu, 16 Aug 2012 23:20:45 -0700 Subject: [PATCH] uncrustify libraries/AP_Navigation/Navigation.h --- libraries/AP_Navigation/Navigation.h | 124 +++++++++++++-------------- 1 file changed, 62 insertions(+), 62 deletions(-) diff --git a/libraries/AP_Navigation/Navigation.h b/libraries/AP_Navigation/Navigation.h index b0919854b8..8f068bea43 100644 --- a/libraries/AP_Navigation/Navigation.h +++ b/libraries/AP_Navigation/Navigation.h @@ -2,78 +2,78 @@ #ifndef AP_NAVIGATION_h #define AP_NAVIGATION_h -#define XTRACK_GAIN 10 // Amount to compensate for crosstrack (degrees/100 per meter) -#define XTRACK_ENTRY_ANGLE 3000 // Max angle used to correct for track following degrees*100 -#include // ArduPilot GPS Library -#include "Waypoints.h" // ArduPilot Waypoints Library +#define XTRACK_GAIN 10 // Amount to compensate for crosstrack (degrees/100 per meter) +#define XTRACK_ENTRY_ANGLE 3000 // Max angle used to correct for track following degrees*100 +#include // ArduPilot GPS Library +#include "Waypoints.h" // ArduPilot Waypoints Library #if defined(ARDUINO) && ARDUINO >= 100 - #include "Arduino.h" + #include "Arduino.h" #else - #include "WProgram.h" + #include "WProgram.h" #endif #define T7 10000000 class Navigation { public: - Navigation(GPS *withGPS, Waypoints *withWP); - - void update_gps(void); // called 50 Hz - void set_home(Waypoints::WP loc); - void set_next_wp(Waypoints::WP loc); - void load_first_wp(void); - void load_wp_with_index(uint8_t i); - void load_home(void); - void return_to_home_with_alt(uint32_t alt); - - void reload_wp(void); - void load_wp_index(uint8_t i); - void hold_location(); - void set_wp(Waypoints::WP loc); - - void set_hold_course(int16_t b); // -1 deisables, 0-36000 enables - int16_t get_hold_course(void); - - int32_t get_distance(Waypoints::WP *loc1, Waypoints::WP *loc2); - int32_t get_bearing(Waypoints::WP *loc1, Waypoints::WP *loc2); - void set_bearing_error(int32_t error); - - void set_loiter_vector(int16_t v); - void update_crosstrack(void); - - int32_t wrap_180(int32_t error); // utility - int32_t wrap_360(int32_t angle); // utility - - int32_t bearing; // deg * 100 : 0 to 360 current desired bearing to navigate - int32_t distance; // meters : distance plane to next waypoint - int32_t altitude_above_home; // meters * 100 relative to home position - int32_t total_distance; // meters : distance between waypoints - int32_t bearing_error; // deg * 100 : 18000 to -18000 - int32_t altitude_error; // deg * 100 : 18000 to -18000 - - int16_t loiter_sum; - Waypoints::WP home, location, prev_wp, next_wp; + Navigation(GPS *withGPS, Waypoints *withWP); + + void update_gps(void); // called 50 Hz + void set_home(Waypoints::WP loc); + void set_next_wp(Waypoints::WP loc); + void load_first_wp(void); + void load_wp_with_index(uint8_t i); + void load_home(void); + void return_to_home_with_alt(uint32_t alt); + + void reload_wp(void); + void load_wp_index(uint8_t i); + void hold_location(); + void set_wp(Waypoints::WP loc); + + void set_hold_course(int16_t b); // -1 deisables, 0-36000 enables + int16_t get_hold_course(void); + + int32_t get_distance(Waypoints::WP *loc1, Waypoints::WP *loc2); + int32_t get_bearing(Waypoints::WP *loc1, Waypoints::WP *loc2); + void set_bearing_error(int32_t error); + + void set_loiter_vector(int16_t v); + void update_crosstrack(void); + + int32_t wrap_180(int32_t error); // utility + int32_t wrap_360(int32_t angle); // utility + + int32_t bearing; // deg * 100 : 0 to 360 current desired bearing to navigate + int32_t distance; // meters : distance plane to next waypoint + int32_t altitude_above_home; // meters * 100 relative to home position + int32_t total_distance; // meters : distance between waypoints + int32_t bearing_error; // deg * 100 : 18000 to -18000 + int32_t altitude_error; // deg * 100 : 18000 to -18000 + + int16_t loiter_sum; + Waypoints::WP home, location, prev_wp, next_wp; private: - void calc_int32_t_scaling(int32_t lat); - void calc_bearing_error(void); - void calc_altitude_error(void); - void calc_distance_error(void); - void calc_long_scaling(int32_t lat); - void reset_crosstrack(void); - - int16_t _old_bearing; // used to track delta on the bearing - GPS *_gps; - Waypoints *_wp; - int32_t _crosstrack_bearing; // deg * 100 : 0 to 360 desired angle of plane to target - float _crosstrack_error; // deg * 100 : 18000 to -18000 meters we are off trackline - int16_t _hold_course; // deg * 100 dir of plane - int32_t _target_altitude; // used for - int32_t _offset_altitude; // used for - float _altitude_estimate; - float _scaleLongUp; // used to reverse int32_ttitude scaling - float _scaleLongDown; // used to reverse int32_ttitude scaling - int16_t _loiter_delta; + void calc_int32_t_scaling(int32_t lat); + void calc_bearing_error(void); + void calc_altitude_error(void); + void calc_distance_error(void); + void calc_long_scaling(int32_t lat); + void reset_crosstrack(void); + + int16_t _old_bearing; // used to track delta on the bearing + GPS * _gps; + Waypoints * _wp; + int32_t _crosstrack_bearing; // deg * 100 : 0 to 360 desired angle of plane to target + float _crosstrack_error; // deg * 100 : 18000 to -18000 meters we are off trackline + int16_t _hold_course; // deg * 100 dir of plane + int32_t _target_altitude; // used for + int32_t _offset_altitude; // used for + float _altitude_estimate; + float _scaleLongUp; // used to reverse int32_ttitude scaling + float _scaleLongDown; // used to reverse int32_ttitude scaling + int16_t _loiter_delta; };