zrzk
/
zr-v4
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

ACM : Formatting

master
Jason Short 12 years ago
parent
dda74afa21
commit
19ae5c30eb
6 changed files with 44 additions and 138 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Unified View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 22
      ArduCopter/ArduCopter.pde
  2. 94
      ArduCopter/GCS.pde
  3. 6
      ArduCopter/Log.pde
  4. 8
      ArduCopter/navigation.pde
  5. 34
      ArduCopter/setup.pde
  6. 4
      ArduCopter/system.pde

22
ArduCopter/ArduCopter.pde
Unescape View File

@ -868,7 +868,7 @@ static int16_t gps_fix_count;
// Time in microseconds of main control loop // Time in microseconds of main control loop
static uint32_t fast_loopTimer; static uint32_t fast_loopTimer;
// Time in microseconds of 50hz control loop // Time in microseconds of 50hz control loop
static uint32_t fiftyhz_loopTimer = 0; static uint32_t fiftyhz_loopTimer;
// Counters for branching from 10 hz control loop // Counters for branching from 10 hz control loop
static byte medium_loopCounter; static byte medium_loopCounter;
// Counters for branching from 3 1/3hz control loop // Counters for branching from 3 1/3hz control loop
@ -961,8 +961,8 @@ void loop()
// check loop time // check loop time
perf_info_check_loop_time(timer - fast_loopTimer); perf_info_check_loop_time(timer - fast_loopTimer);
G_Dt = (float)(timer - fast_loopTimer) / 1000000.f; // used by PI Loops G_Dt = (float)(timer - fast_loopTimer) / 1000000.f; // used by PI Loops
fast_loopTimer = timer; fast_loopTimer = timer;
// for mainloop failure monitoring // for mainloop failure monitoring
mainLoop_count++; mainLoop_count++;
@ -981,7 +981,7 @@ void loop()
#endif #endif
// store the micros for the 50 hz timer // store the micros for the 50 hz timer
fiftyhz_loopTimer = timer; fiftyhz_loopTimer = timer;
// check for new GPS messages // check for new GPS messages
// -------------------------- // --------------------------
@ -1998,19 +1998,19 @@ static void update_trig(void){
yawvector.normalize(); yawvector.normalize();
cos_pitch_x = safe_sqrt(1 - (temp.c.x * temp.c.x)); // level = 1 cos_pitch_x = safe_sqrt(1 - (temp.c.x * temp.c.x)); // level = 1
cos_roll_x = temp.c.z / cos_pitch_x; // level = 1 cos_roll_x = temp.c.z / cos_pitch_x; // level = 1
cos_pitch_x = constrain(cos_pitch_x, 0, 1.0); cos_pitch_x = constrain(cos_pitch_x, 0, 1.0);
// this relies on constrain() of infinity doing the right thing, // this relies on constrain() of infinity doing the right thing,
// which it does do in avr-libc // which it does do in avr-libc
cos_roll_x = constrain(cos_roll_x, -1.0, 1.0); cos_roll_x = constrain(cos_roll_x, -1.0, 1.0);
sin_yaw_y = yawvector.x; // 1y = north sin_yaw_y = yawvector.x; // 1y = north
cos_yaw_x = yawvector.y; // 0x = north cos_yaw_x = yawvector.y; // 0x = north
// added to convert earth frame to body frame for rate controllers // added to convert earth frame to body frame for rate controllers
sin_pitch = -temp.c.x; sin_pitch = -temp.c.x;
sin_roll = temp.c.y / cos_pitch_x; sin_roll = temp.c.y / cos_pitch_x;
//flat: //flat:
// 0 ° = cos_yaw: 0.00, sin_yaw: 1.00, // 0 ° = cos_yaw: 0.00, sin_yaw: 1.00,

94
ArduCopter/GCS.pde
Unescape View File

@ -1,94 +0,0 @@
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/*
* GCS Protocol
*
* 4 Ardupilot Header
* D
* 5 Payload length
* 1 Message ID
* 1 Message Version
* 9 Payload byte 1
* 8 Payload byte 2
* 7 Payload byte 3
* A Checksum byte 1
* B Checksum byte 2
*
*/
/*
* #if GCS_PORT == 3
# define SendSerw Serial3.write
# define SendSer Serial3.print
##else
# define SendSerw Serial.write
# define SendSer Serial.print
##endif
#
# byte mess_buffer[60];
# byte buff_pointer;
#
# // Unions for getting byte values
# union f_out{
# byte bytes[4];
# float value;
# } floatOut;
#
# union i_out {
# byte bytes[2];
# int16_t value;
# } intOut;
#
# union l_out{
# byte bytes[4];
# int32_t value;
# } longOut;
#
# // Add binary values to the buffer
# void write_byte(byte val)
# {
# mess_buffer[buff_pointer++] = val;
# }
#
# void write_int(int16_t val )
# {
# intOut.value = val;
# mess_buffer[buff_pointer++] = intOut.bytes[0];
# mess_buffer[buff_pointer++] = intOut.bytes[1];
# }
#
# void write_float(float val)
# {
# floatOut.value = val;
# mess_buffer[buff_pointer++] = floatOut.bytes[0];
# mess_buffer[buff_pointer++] = floatOut.bytes[1];
# mess_buffer[buff_pointer++] = floatOut.bytes[2];
# mess_buffer[buff_pointer++] = floatOut.bytes[3];
# }
#
# void write_long(int32_t val)
# {
# longOut.value = val;
# mess_buffer[buff_pointer++] = longOut.bytes[0];
# mess_buffer[buff_pointer++] = longOut.bytes[1];
# mess_buffer[buff_pointer++] = longOut.bytes[2];
# mess_buffer[buff_pointer++] = longOut.bytes[3];
# }
#
# void flush(byte id)
# {
# byte mess_ck_a = 0;
# byte mess_ck_b = 0;
# byte i;
#
# SendSer("4D"); // This is the message preamble
# SendSerw(buff_pointer); // Length
# SendSerw(2); // id
#
# for (i = 0; i < buff_pointer; i++) {
# SendSerw(mess_buffer[i]);
# }
#
# buff_pointer = 0;
# }
*/

6
ArduCopter/Log.pde
Unescape View File

@ -5,9 +5,9 @@
// Code to Write and Read packets from DataFlash log memory // Code to Write and Read packets from DataFlash log memory
// Code to interact with the user to dump or erase logs // Code to interact with the user to dump or erase logs
#define HEAD_BYTE1 0xA3 // Decimal 163 #define HEAD_BYTE1 0xA3 // Decimal 163
#define HEAD_BYTE2 0x95 // Decimal 149 #define HEAD_BYTE2 0x95 // Decimal 149
#define END_BYTE 0xBA // Decimal 186 #define END_BYTE 0xBA // Decimal 186
// These are function definitions so the Menu can be constructed before the functions // These are function definitions so the Menu can be constructed before the functions

8
ArduCopter/navigation.pde
Unescape View File

@ -13,7 +13,7 @@ static void update_navigation()
// used to calculate speed in X and Y, iterms // used to calculate speed in X and Y, iterms
// ------------------------------------------ // ------------------------------------------
dTnav = (float)(millis() - nav_last_gps_update)/ 1000.0; dTnav = (float)(millis() - nav_last_gps_update)/ 1000.0;
nav_last_gps_update = millis(); nav_last_gps_update = millis();
// prevent runup from bad GPS // prevent runup from bad GPS
@ -292,7 +292,7 @@ static void update_nav_wp()
loiter_sum += loiter_delta; loiter_sum += loiter_delta;
circle_angle += (circle_rate * dTnav); circle_angle += (circle_rate * dTnav);
//1° = 0.0174532925 radians //1deg = 0.0174532925 radians
// wrap // wrap
if (circle_angle > 6.28318531) if (circle_angle > 6.28318531)
@ -331,8 +331,8 @@ static void update_nav_wp()
nav_lon = g.pid_loiter_rate_lon.get_integrator(); nav_lon = g.pid_loiter_rate_lon.get_integrator();
nav_lat = g.pid_loiter_rate_lon.get_integrator(); nav_lat = g.pid_loiter_rate_lon.get_integrator();
nav_lon = constrain(nav_lon, -2000, 2000); // 20° nav_lon = constrain(nav_lon, -2000, 2000); // 20m
nav_lat = constrain(nav_lat, -2000, 2000); // 20° nav_lat = constrain(nav_lat, -2000, 2000); // 20m
break; break;
} }
} }

34
ArduCopter/setup.pde
Unescape View File

@ -3,27 +3,27 @@
#if CLI_ENABLED == ENABLED #if CLI_ENABLED == ENABLED
// Functions called from the setup menu // Functions called from the setup menu
static int8_t setup_radio (uint8_t argc, const Menu::arg *argv); static int8_t setup_radio (uint8_t argc, const Menu::arg *argv);
static int8_t setup_motors (uint8_t argc, const Menu::arg *argv); static int8_t setup_motors (uint8_t argc, const Menu::arg *argv);
static int8_t setup_accel (uint8_t argc, const Menu::arg *argv); static int8_t setup_accel (uint8_t argc, const Menu::arg *argv);
static int8_t setup_accel_scale (uint8_t argc, const Menu::arg *argv); static int8_t setup_accel_scale (uint8_t argc, const Menu::arg *argv);
static int8_t setup_frame (uint8_t argc, const Menu::arg *argv); static int8_t setup_frame (uint8_t argc, const Menu::arg *argv);
static int8_t setup_factory (uint8_t argc, const Menu::arg *argv); static int8_t setup_factory (uint8_t argc, const Menu::arg *argv);
static int8_t setup_erase (uint8_t argc, const Menu::arg *argv); static int8_t setup_erase (uint8_t argc, const Menu::arg *argv);
static int8_t setup_flightmodes (uint8_t argc, const Menu::arg *argv); static int8_t setup_flightmodes (uint8_t argc, const Menu::arg *argv);
static int8_t setup_batt_monitor (uint8_t argc, const Menu::arg *argv); static int8_t setup_batt_monitor (uint8_t argc, const Menu::arg *argv);
static int8_t setup_sonar (uint8_t argc, const Menu::arg *argv); static int8_t setup_sonar (uint8_t argc, const Menu::arg *argv);
static int8_t setup_compass (uint8_t argc, const Menu::arg *argv); static int8_t setup_compass (uint8_t argc, const Menu::arg *argv);
static int8_t setup_tune (uint8_t argc, const Menu::arg *argv); static int8_t setup_tune (uint8_t argc, const Menu::arg *argv);
static int8_t setup_range (uint8_t argc, const Menu::arg *argv); static int8_t setup_range (uint8_t argc, const Menu::arg *argv);
//static int8_t setup_mag_offset (uint8_t argc, const Menu::arg *argv); //static int8_t setup_mag_offset (uint8_t argc, const Menu::arg *argv);
static int8_t setup_declination (uint8_t argc, const Menu::arg *argv); static int8_t setup_declination (uint8_t argc, const Menu::arg *argv);
static int8_t setup_optflow (uint8_t argc, const Menu::arg *argv); static int8_t setup_optflow (uint8_t argc, const Menu::arg *argv);
#if FRAME_CONFIG == HELI_FRAME #if FRAME_CONFIG == HELI_FRAME
static int8_t setup_heli (uint8_t argc, const Menu::arg *argv); static int8_t setup_heli (uint8_t argc, const Menu::arg *argv);
static int8_t setup_gyro (uint8_t argc, const Menu::arg *argv); static int8_t setup_gyro (uint8_t argc, const Menu::arg *argv);
#endif #endif
// Command/function table for the setup menu // Command/function table for the setup menu

4
ArduCopter/system.pde
Unescape View File

@ -407,8 +407,8 @@ static void set_mode(byte mode)
mode = STABILIZE; mode = STABILIZE;
} }
control_mode = mode; control_mode = mode;
control_mode = constrain(control_mode, 0, NUM_MODES - 1); control_mode = constrain(control_mode, 0, NUM_MODES - 1);
// used to stop fly_aways // used to stop fly_aways
// set to false if we have low throttle // set to false if we have low throttle

Write Preview
Loading…
Cancel
Save