uncrustify libraries/AP_IMU/AP_IMU_INS.h

libraries/AP_IMU/AP_IMU_INS.h

@@ -26,66 +26,90 @@ public:
     /// @param  adc         Pointer to the AP_ADC instance that is connected to the gyro and accelerometer.
     /// @param  key         The AP_Var::key value we will use when loading/saving calibration data.
     ///
-	AP_IMU_INS(AP_InertialSensor *ins) :
+    AP_IMU_INS(AP_InertialSensor *ins) :
         _ins(ins)
-	{
+    {
-			_product_id = AP_PRODUCT_ID_NONE; // set during hardware init
+        _product_id = AP_PRODUCT_ID_NONE;                 // set during hardware init
-	}
+    }
-
+
-	/// Do warm or cold start.
+    /// Do warm or cold start.
-	///
+    ///
-	/// @note   For a partial-warmstart where e.g. the accelerometer calibration should be preserved
+    /// @note   For a partial-warmstart where e.g. the accelerometer calibration should be preserved
-	///         but the gyro cal needs to be re-performed, start with ::init(WARM_START) to load the
+    ///         but the gyro cal needs to be re-performed, start with ::init(WARM_START) to load the
-	///         previous calibration settings, then force a re-calibration of the gyro with ::init_gyro.
+    ///         previous calibration settings, then force a re-calibration of the gyro with ::init_gyro.
-	///
+    ///
-	/// @param  style   Selects the initialisation style.
+    /// @param  style   Selects the initialisation style.
-	///                 COLD_START performs calibration of both the accelerometer and gyro.
+    ///                 COLD_START performs calibration of both the accelerometer and gyro.
-	///                 WARM_START loads accelerometer and gyro calibration from a previous cold start.
+    ///                 WARM_START loads accelerometer and gyro calibration from a previous cold start.
-	///
+    ///
-	virtual void		init( Start_style style = COLD_START,
+    virtual void        init( Start_style           style = COLD_START,
-                              void (*delay_cb)(unsigned long t) = delay,
+                              void                  (*delay_cb)(unsigned long t) = delay,
-                              void (*flash_leds_cb)(bool on) = NULL,
+                              void                  (*flash_leds_cb)(bool on) = NULL,
-                              AP_PeriodicProcess *scheduler = NULL );
+                              AP_PeriodicProcess *  scheduler = NULL );
-
+
-	virtual void		save();
+    virtual void            save();
-	virtual void		init_accel(void (*delay_cb)(unsigned long t) = delay,
+    virtual void            init_accel(void (*delay_cb)(unsigned long t) = delay,
-                                   void (*flash_leds_cb)(bool on) = NULL);
+                                       void (*flash_leds_cb)(bool on) = NULL);
-	virtual void		init_gyro(void (*delay_cb)(unsigned long t) = delay,
+    virtual void            init_gyro(void  (*delay_cb)(unsigned long t) = delay,
-                                  void (*flash_leds_cb)(bool on) = NULL);
+                                      void  (*flash_leds_cb)(bool on) = NULL);
-	virtual bool		update(void);
+    virtual bool            update(void);
-	virtual bool		new_data_available(void);
+    virtual bool            new_data_available(void);
-
+
-	// for jason
+    // for jason
-	virtual float		gx()				{ return _sensor_cal[0]; }
+    virtual float           gx()                            {
-	virtual float		gy()				{ return _sensor_cal[1]; }
+        return _sensor_cal[0];
-	virtual float		gz()				{ return _sensor_cal[2]; }
+    }
-	virtual float		ax()				{ return _sensor_cal[3]; }
+    virtual float           gy()                            {
-	virtual float		ay()				{ return _sensor_cal[4]; }
+        return _sensor_cal[1];
-	virtual float		az()				{ return _sensor_cal[5]; }
+    }
-
+    virtual float           gz()                            {
-	virtual void		gx(const float v)		{ _sensor_cal[0] = v; }
+        return _sensor_cal[2];
-	virtual void		gy(const float v)		{ _sensor_cal[1] = v; }
+    }
-	virtual void		gz(const float v)		{ _sensor_cal[2] = v; }
+    virtual float           ax()                            {
-	virtual void		ax(const float v)		{ _sensor_cal[3] = v; }
+        return _sensor_cal[3];
-	virtual void		ay(const float v)		{ _sensor_cal[4] = v; }
+    }
-	virtual void		az(const float v)		{ _sensor_cal[5] = v; }
+    virtual float           ay()                            {
-    virtual float       get_gyro_drift_rate(void);
+        return _sensor_cal[4];
-	
+    }
+    virtual float           az()                            {
+        return _sensor_cal[5];
+    }
+
+    virtual void            gx(const float v)               {
+        _sensor_cal[0] = v;
+    }
+    virtual void            gy(const float v)               {
+        _sensor_cal[1] = v;
+    }
+    virtual void            gz(const float v)               {
+        _sensor_cal[2] = v;
+    }
+    virtual void            ax(const float v)               {
+        _sensor_cal[3] = v;
+    }
+    virtual void            ay(const float v)               {
+        _sensor_cal[4] = v;
+    }
+    virtual void            az(const float v)               {
+        _sensor_cal[5] = v;
+    }
+    virtual float           get_gyro_drift_rate(void);
+
 
 private:
-    AP_InertialSensor   *_ins;          ///< INS provides an axis and unit correct sensor source.
+    AP_InertialSensor *         _ins;   ///< INS provides an axis and unit correct sensor source.
 
-    virtual void        _init_accel(void (*delay_cb)(unsigned long t),
+    virtual void                _init_accel(void    (*delay_cb)(unsigned long t),
-                                    void (*flash_leds_cb)(bool on) = NULL);  ///< no-save implementation
+                                            void    (*flash_leds_cb)(bool on) = NULL); ///< no-save implementation
-    virtual void        _init_gyro(void (*delay_cb)(unsigned long t),
+    virtual void                _init_gyro(void (*delay_cb)(unsigned long t),
-                                   void (*flash_leds_cb)(bool on) = NULL);   ///< no-save implementation
+                                           void (*flash_leds_cb)(bool on) = NULL); ///< no-save implementation
 
-    float _calibrated(uint8_t channel, float ins_value);
+    float                       _calibrated(uint8_t channel, float ins_value);
 
-	// Gyro and Accelerometer calibration criteria
+    // Gyro and Accelerometer calibration criteria
-	//
+    //
-	static const float		_accel_total_cal_change = 4.0;
+    static const float          _accel_total_cal_change = 4.0;
-	static const float		_accel_max_cal_offset = 250.0;
+    static const float          _accel_max_cal_offset = 250.0;
 
 };