uncrustify libraries/AP_Compass/examples/AP_Compass_test/AP_Compass_test.pde

libraries/AP_Compass/examples/AP_Compass_test/AP_Compass_test.pde

@@ -1,12 +1,12 @@
 /*
-	Example of APM_Compass library (HMC5843 sensor).
+ *       Example of APM_Compass library (HMC5843 sensor).
-	Code by Jordi MuÒoz and Jose Julio. DIYDrones.com
+ *       Code by Jordi MuÒoz and Jose Julio. DIYDrones.com
-*/
+ */
 
 #include <FastSerial.h>
 #include <AP_Common.h>
 #include <AP_Compass.h> // Compass Library
-#include <AP_Math.h>		// ArduPilot Mega Vector/Matrix math Library
+#include <AP_Math.h>            // ArduPilot Mega Vector/Matrix math Library
 #include <I2C.h>
 
 FastSerialPort0(Serial);
@@ -21,93 +21,93 @@ unsigned long timer;
 
 void setup()
 {
-  Serial.begin(115200);
+    Serial.begin(115200);
-  Serial.println("Compass library test (HMC5843 and HMC5883L)");
+    Serial.println("Compass library test (HMC5843 and HMC5883L)");
-  I2c.begin();
+    I2c.begin();
-  I2c.timeOut(20);
+    I2c.timeOut(20);
-
-  // I2c.setSpeed(true);
-
-  if (!compass.init()) {
-	  Serial.println("compass initialisation failed!");
-	  while (1) ;
-  }
-
-  compass.set_orientation(AP_COMPASS_COMPONENTS_DOWN_PINS_FORWARD);  // set compass's orientation on aircraft.
-  compass.set_offsets(0,0,0);  // set offsets to account for surrounding interference
-  compass.set_declination(ToRad(0.0));  // set local difference between magnetic north and true north
-
-  Serial.print("Compass auto-detected as: ");
-  switch( compass.product_id ) {
-      case AP_COMPASS_TYPE_HIL:
-	      Serial.println("HIL");
-		  break;
-      case AP_COMPASS_TYPE_HMC5843:
-	      Serial.println("HMC5843");
-		  break;
-      case AP_COMPASS_TYPE_HMC5883L:
-	      Serial.println("HMC5883L");
-		  break;
-      default:
-	      Serial.println("unknown");
-		  break;
-  }
-  
-  delay(3000);
-  timer = micros();
-}
 
-void loop()
+    // I2c.setSpeed(true);
-{
+
-  static float min[3], max[3], offset[3];
+    if (!compass.init()) {
+        Serial.println("compass initialisation failed!");
+        while (1) ;
+    }
 
-  if((micros()- timer) > 100000L)
+    compass.set_orientation(AP_COMPASS_COMPONENTS_DOWN_PINS_FORWARD); // set compass's orientation on aircraft.
-  {
+    compass.set_offsets(0,0,0); // set offsets to account for surrounding interference
+    compass.set_declination(ToRad(0.0)); // set local difference between magnetic north and true north
+
+    Serial.print("Compass auto-detected as: ");
+    switch( compass.product_id ) {
+    case AP_COMPASS_TYPE_HIL:
+        Serial.println("HIL");
+        break;
+    case AP_COMPASS_TYPE_HMC5843:
+        Serial.println("HMC5843");
+        break;
+    case AP_COMPASS_TYPE_HMC5883L:
+        Serial.println("HMC5883L");
+        break;
+    default:
+        Serial.println("unknown");
+        break;
+    }
+
+    delay(3000);
     timer = micros();
-    compass.read();
+}
-    unsigned long read_time = micros() - timer;
-    float heading;
 
-    if (!compass.healthy) {
+void loop()
-	    Serial.println("not healthy");
+{
-	    return;
+    static float min[3], max[3], offset[3];
+
+    if((micros()- timer) > 100000L)
+    {
+        timer = micros();
+        compass.read();
+        unsigned long read_time = micros() - timer;
+        float heading;
+
+        if (!compass.healthy) {
+            Serial.println("not healthy");
+            return;
+        }
+        heading = compass.calculate_heading(0,0); // roll = 0, pitch = 0 for this example
+
+        // capture min
+        if( compass.mag_x < min[0] )
+            min[0] = compass.mag_x;
+        if( compass.mag_y < min[1] )
+            min[1] = compass.mag_y;
+        if( compass.mag_z < min[2] )
+            min[2] = compass.mag_z;
+
+        // capture max
+        if( compass.mag_x > max[0] )
+            max[0] = compass.mag_x;
+        if( compass.mag_y > max[1] )
+            max[1] = compass.mag_y;
+        if( compass.mag_z > max[2] )
+            max[2] = compass.mag_z;
+
+        // calculate offsets
+        offset[0] = -(max[0]+min[0])/2;
+        offset[1] = -(max[1]+min[1])/2;
+        offset[2] = -(max[2]+min[2])/2;
+
+        // display all to user
+        Serial.printf("Heading: %.2f (%3u,%3u,%3u) ",
+                      ToDeg(heading),
+                      compass.mag_x,
+                      compass.mag_y,
+                      compass.mag_z);
+
+        // display offsets
+        Serial.printf("\t offsets(%.2f, %.2f, %.2f)",
+                      offset[0], offset[1], offset[2]);
+
+        Serial.printf(" t=%u", (unsigned)read_time);
+
+        Serial.println();
     }
-    heading = compass.calculate_heading(0,0);  // roll = 0, pitch = 0 for this example
-
-    // capture min
-    if( compass.mag_x < min[0] )
-        min[0] = compass.mag_x;
-    if( compass.mag_y < min[1] )
-        min[1] = compass.mag_y;
-    if( compass.mag_z < min[2] )
-        min[2] = compass.mag_z;
-
-    // capture max
-    if( compass.mag_x > max[0] )
-        max[0] = compass.mag_x;
-    if( compass.mag_y > max[1] )
-        max[1] = compass.mag_y;
-    if( compass.mag_z > max[2] )
-        max[2] = compass.mag_z;
-
-    // calculate offsets
-    offset[0] = -(max[0]+min[0])/2;
-    offset[1] = -(max[1]+min[1])/2;
-    offset[2] = -(max[2]+min[2])/2;
-
-    // display all to user
-    Serial.printf("Heading: %.2f (%3u,%3u,%3u) ",
-		  ToDeg(heading),
-		  compass.mag_x,
-		  compass.mag_y,
-		  compass.mag_z);
-
-    // display offsets
-    Serial.printf("\t offsets(%.2f, %.2f, %.2f)",
-		  offset[0], offset[1], offset[2]);
-
-    Serial.printf(" t=%u", (unsigned)read_time);
-
-    Serial.println();
-  }
 }