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

uncrustify ArduPlane/system.pde

master
uncrustify 13 years ago committed by Pat Hickey
parent
8c2d604971
commit
a8e5900624
1 changed files with 271 additions and 271 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 542
      ArduPlane/system.pde

542
ArduPlane/system.pde
Unescape View File

@ -1,43 +1,43 @@ @@ -1,43 +1,43 @@
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/*****************************************************************************
The init_ardupilot function processes everything we need for an in - air restart
We will determine later if we are actually on the ground and process a
ground start in that case.
* The init_ardupilot function processes everything we need for an in - air restart
* We will determine later if we are actually on the ground and process a
* ground start in that case.
*
*****************************************************************************/
#if CLI_ENABLED == ENABLED
// Functions called from the top-level menu
static int8_t process_logs(uint8_t argc, const Menu::arg *argv); // in Log.pde
static int8_t setup_mode(uint8_t argc, const Menu::arg *argv); // in setup.pde
static int8_t test_mode(uint8_t argc, const Menu::arg *argv); // in test.cpp
static int8_t planner_mode(uint8_t argc, const Menu::arg *argv); // in planner.pde
static int8_t process_logs(uint8_t argc, const Menu::arg *argv); // in Log.pde
static int8_t setup_mode(uint8_t argc, const Menu::arg *argv); // in setup.pde
static int8_t test_mode(uint8_t argc, const Menu::arg *argv); // in test.cpp
static int8_t planner_mode(uint8_t argc, const Menu::arg *argv); // in planner.pde
// This is the help function
// PSTR is an AVR macro to read strings from flash memory
// printf_P is a version of print_f that reads from flash memory
static int8_t main_menu_help(uint8_t argc, const Menu::arg *argv)
static int8_t main_menu_help(uint8_t argc, const Menu::arg *argv)
{
Serial.printf_P(PSTR("Commands:\n"
" logs log readback/setup mode\n"
" setup setup mode\n"
" test test mode\n"
"\n"
"Move the slide switch and reset to FLY.\n"
"\n"));
return(0);
Serial.printf_P(PSTR("Commands:\n"
" logs log readback/setup mode\n"
" setup setup mode\n"
" test test mode\n"
"\n"
"Move the slide switch and reset to FLY.\n"
"\n"));
return(0);
}
// Command/function table for the top-level menu.
static const struct Menu::command main_menu_commands[] PROGMEM = {
// command function called
// ======= ===============
{"logs", process_logs},
{"setup", setup_mode},
{"test", test_mode},
{"help", main_menu_help},
{"planner", planner_mode}
{"logs", process_logs},
{"setup", setup_mode},
{"test", test_mode},
{"help", main_menu_help},
{"planner", planner_mode}
};
// Create the top-level menu object.
@ -76,25 +76,25 @@ static void init_ardupilot() @@ -76,25 +76,25 @@ static void init_ardupilot()
}
#endif
// Console serial port
//
// The console port buffers are defined to be sufficiently large to support
// the MAVLink protocol efficiently
//
Serial.begin(SERIAL0_BAUD, 128, 256);
// Console serial port
//
// The console port buffers are defined to be sufficiently large to support
// the MAVLink protocol efficiently
//
Serial.begin(SERIAL0_BAUD, 128, 256);
// GPS serial port.
//
// GPS serial port.
//
// standard gps running
Serial1.begin(38400, 256, 16);
Serial.printf_P(PSTR("\n\nInit " THISFIRMWARE
"\n\nFree RAM: %u\n"),
Serial.printf_P(PSTR("\n\nInit " THISFIRMWARE
"\n\nFree RAM: %u\n"),
memcheck_available_memory());
//
// Initialize Wire and SPI libraries
//
//
// Initialize Wire and SPI libraries
//
#ifndef DESKTOP_BUILD
I2c.begin();
I2c.timeOut(5);
@ -103,31 +103,31 @@ static void init_ardupilot() @@ -103,31 +103,31 @@ static void init_ardupilot()
#endif
SPI.begin();
SPI.setClockDivider(SPI_CLOCK_DIV16); // 1MHZ SPI rate
//
// Initialize the ISR registry.
//
//
// Initialize the ISR registry.
//
isr_registry.init();
//
// Initialize the timer scheduler to use the ISR registry.
//
// Initialize the timer scheduler to use the ISR registry.
//
timer_scheduler.init( & isr_registry );
timer_scheduler.init( &isr_registry );
// initialise the analog port reader
AP_AnalogSource_Arduino::init_timer(&timer_scheduler);
//
// Check the EEPROM format version before loading any parameters from EEPROM.
//
//
// Check the EEPROM format version before loading any parameters from EEPROM.
//
load_parameters();
// keep a record of how many resets have happened. This can be
// used to detect in-flight resets
g.num_resets.set_and_save(g.num_resets+1);
// init the GCS
gcs0.init(&Serial);
// init the GCS
gcs0.init(&Serial);
#if USB_MUX_PIN > 0
if (!usb_connected) {
@ -138,71 +138,71 @@ static void init_ardupilot() @@ -138,71 +138,71 @@ static void init_ardupilot()
#else
// we have a 2nd serial port for telemetry
Serial3.begin(map_baudrate(g.serial3_baud, SERIAL3_BAUD), 128, 256);
gcs3.init(&Serial3);
gcs3.init(&Serial3);
#endif
mavlink_system.sysid = g.sysid_this_mav;
mavlink_system.sysid = g.sysid_this_mav;
#if LOGGING_ENABLED == ENABLED
DataFlash.Init(); // DataFlash log initialization
DataFlash.Init(); // DataFlash log initialization
if (!DataFlash.CardInserted()) {
gcs_send_text_P(SEVERITY_LOW, PSTR("No dataflash card inserted"));
g.log_bitmask.set(0);
} else if (DataFlash.NeedErase()) {
gcs_send_text_P(SEVERITY_LOW, PSTR("ERASING LOGS"));
do_erase_logs();
do_erase_logs();
}
if (g.log_bitmask != 0) {
DataFlash.start_new_log();
}
if (g.log_bitmask != 0) {
DataFlash.start_new_log();
}
#endif
#if HIL_MODE != HIL_MODE_ATTITUDE
#if CONFIG_ADC == ENABLED
#if CONFIG_ADC == ENABLED
adc.Init(&timer_scheduler); // APM ADC library initialization
#endif
#endif
// initialise the analog port reader
AP_AnalogSource_Arduino::init_timer(&timer_scheduler);
barometer.init(&timer_scheduler);
barometer.init(&timer_scheduler);
if (g.compass_enabled==true) {
compass.set_orientation(MAG_ORIENTATION); // set compass's orientation on aircraft
if (!compass.init() || !compass.read()) {
if (g.compass_enabled==true) {
compass.set_orientation(MAG_ORIENTATION); // set compass's orientation on aircraft
if (!compass.init() || !compass.read()) {
Serial.println_P(PSTR("Compass initialisation failed!"));
g.compass_enabled = false;
} else {
ahrs.set_compass(&compass);
}
}
}
#endif
// give AHRS the airspeed sensor
ahrs.set_airspeed(&airspeed);
// Do GPS init
g_gps = &g_gps_driver;
// Do GPS init
g_gps = &g_gps_driver;
// GPS Initialization
g_gps->init(GPS::GPS_ENGINE_AIRBORNE_4G);
g_gps->init(GPS::GPS_ENGINE_AIRBORNE_4G);
g_gps->callback = mavlink_delay;
//mavlink_system.sysid = MAV_SYSTEM_ID; // Using g.sysid_this_mav
mavlink_system.compid = 1; //MAV_COMP_ID_IMU; // We do not check for comp id
mavlink_system.type = MAV_TYPE_FIXED_WING;
//mavlink_system.sysid = MAV_SYSTEM_ID; // Using g.sysid_this_mav
mavlink_system.compid = 1; //MAV_COMP_ID_IMU; // We do not check for comp id
mavlink_system.type = MAV_TYPE_FIXED_WING;
rc_override_active = APM_RC.setHIL(rc_override); // Set initial values for no override
rc_override_active = APM_RC.setHIL(rc_override); // Set initial values for no override
RC_Channel::set_apm_rc( &APM_RC ); // Provide reference to RC outputs.
init_rc_in(); // sets up rc channels from radio
init_rc_out(); // sets up the timer libs
init_rc_in(); // sets up rc channels from radio
init_rc_out(); // sets up the timer libs
pinMode(C_LED_PIN, OUTPUT); // GPS status LED
pinMode(A_LED_PIN, OUTPUT); // GPS status LED
pinMode(B_LED_PIN, OUTPUT); // GPS status LED
pinMode(C_LED_PIN, OUTPUT); // GPS status LED
pinMode(A_LED_PIN, OUTPUT); // GPS status LED
pinMode(B_LED_PIN, OUTPUT); // GPS status LED
#if CONFIG_RELAY == ENABLED
DDRL |= B00000100; // Set Port L, pin 2 to output for the relay
DDRL |= B00000100; // Set Port L, pin 2 to output for the relay
#endif
#if FENCE_TRIGGERED_PIN > 0
@ -211,56 +211,56 @@ static void init_ardupilot() @@ -211,56 +211,56 @@ static void init_ardupilot()
#endif
/*
setup the 'main loop is dead' check. Note that this relies on
the RC library being initialised.
* setup the 'main loop is dead' check. Note that this relies on
* the RC library being initialised.
*/
timer_scheduler.set_failsafe(failsafe_check);
Serial.printf_P(PSTR("\nPress ENTER 3 times to start interactive setup\n\n"));
if (ENABLE_AIR_START == 1) {
// Perform an air start and get back to flying
gcs_send_text_P(SEVERITY_LOW,PSTR("<init_ardupilot> AIR START"));
if (ENABLE_AIR_START == 1) {
// Perform an air start and get back to flying
gcs_send_text_P(SEVERITY_LOW,PSTR("<init_ardupilot> AIR START"));
// Get necessary data from EEPROM
//----------------
//read_EEPROM_airstart_critical();
// Get necessary data from EEPROM
//----------------
//read_EEPROM_airstart_critical();
#if HIL_MODE != HIL_MODE_ATTITUDE
imu.init(IMU::WARM_START, mavlink_delay, flash_leds, &timer_scheduler);
imu.init(IMU::WARM_START, mavlink_delay, flash_leds, &timer_scheduler);
// initialise ahrs (may push imu calibration into the mpu6000 if using that device).
ahrs.init();
ahrs.set_fly_forward(true);
// initialise ahrs (may push imu calibration into the mpu6000 if using that device).
ahrs.init();
ahrs.set_fly_forward(true);
#endif
// This delay is important for the APM_RC library to work.
// We need some time for the comm between the 328 and 1280 to be established.
int old_pulse = 0;
while (millis()<=1000 && (abs(old_pulse - APM_RC.InputCh(g.flight_mode_channel)) > 5 ||
APM_RC.InputCh(g.flight_mode_channel) == 1000 ||
APM_RC.InputCh(g.flight_mode_channel) == 1200)) {
old_pulse = APM_RC.InputCh(g.flight_mode_channel);
delay(25);
}
GPS_enabled = false;
g_gps->update();
if (g_gps->status() != 0 || HIL_MODE != HIL_MODE_DISABLED) GPS_enabled = true;
if (g.log_bitmask & MASK_LOG_CMD)
Log_Write_Startup(TYPE_AIRSTART_MSG);
reload_commands_airstart(); // Get set to resume AUTO from where we left off
}else {
startup_ground();
if (g.log_bitmask & MASK_LOG_CMD)
Log_Write_Startup(TYPE_GROUNDSTART_MSG);
}
// This delay is important for the APM_RC library to work.
// We need some time for the comm between the 328 and 1280 to be established.
int old_pulse = 0;
while (millis()<=1000 && (abs(old_pulse - APM_RC.InputCh(g.flight_mode_channel)) > 5 ||
APM_RC.InputCh(g.flight_mode_channel) == 1000 ||
APM_RC.InputCh(g.flight_mode_channel) == 1200)) {
old_pulse = APM_RC.InputCh(g.flight_mode_channel);
delay(25);
}
GPS_enabled = false;
g_gps->update();
if (g_gps->status() != 0 || HIL_MODE != HIL_MODE_DISABLED) GPS_enabled = true;
if (g.log_bitmask & MASK_LOG_CMD)
Log_Write_Startup(TYPE_AIRSTART_MSG);
reload_commands_airstart(); // Get set to resume AUTO from where we left off
}else {
startup_ground();
if (g.log_bitmask & MASK_LOG_CMD)
Log_Write_Startup(TYPE_GROUNDSTART_MSG);
}
set_mode(MANUAL);
// set the correct flight mode
// ---------------------------
reset_control_switch();
// set the correct flight mode
// ---------------------------
reset_control_switch();
}
//********************************************************************************
@ -270,53 +270,53 @@ static void startup_ground(void) @@ -270,53 +270,53 @@ static void startup_ground(void)
{
set_mode(INITIALISING);
gcs_send_text_P(SEVERITY_LOW,PSTR("<startup_ground> GROUND START"));
gcs_send_text_P(SEVERITY_LOW,PSTR("<startup_ground> GROUND START"));
#if(GROUND_START_DELAY > 0)
gcs_send_text_P(SEVERITY_LOW,PSTR("<startup_ground> With Delay"));
delay(GROUND_START_DELAY * 1000);
#endif
#if (GROUND_START_DELAY > 0)
gcs_send_text_P(SEVERITY_LOW,PSTR("<startup_ground> With Delay"));
delay(GROUND_START_DELAY * 1000);
#endif
// Makes the servos wiggle
// step 1 = 1 wiggle
// -----------------------
demo_servos(1);
// Makes the servos wiggle
// step 1 = 1 wiggle
// -----------------------
demo_servos(1);
//IMU ground start
//------------------------
//IMU ground start
//------------------------
//
startup_IMU_ground(false);
startup_IMU_ground(false);
// read the radio to set trims
// ---------------------------
trim_radio(); // This was commented out as a HACK. Why? I don't find a problem.
// read the radio to set trims
// ---------------------------
trim_radio(); // This was commented out as a HACK. Why? I don't find a problem.
// Save the settings for in-air restart
// ------------------------------------
//save_EEPROM_groundstart();
// Save the settings for in-air restart
// ------------------------------------
//save_EEPROM_groundstart();
// initialize commands
// -------------------
init_commands();
// initialize commands
// -------------------
init_commands();
// Read in the GPS - see if one is connected
GPS_enabled = false;
for (byte counter = 0; ; counter++) {
g_gps->update();
if (g_gps->status() != 0 || HIL_MODE != HIL_MODE_DISABLED){
GPS_enabled = true;
break;
}
if (counter >= 2) {
GPS_enabled = false;
break;
}
}
// Makes the servos wiggle - 3 times signals ready to fly
// -----------------------
demo_servos(3);
for (byte counter = 0;; counter++) {
g_gps->update();
if (g_gps->status() != 0 || HIL_MODE != HIL_MODE_DISABLED) {
GPS_enabled = true;
break;
}
if (counter >= 2) {
GPS_enabled = false;
break;
}
}
// Makes the servos wiggle - 3 times signals ready to fly
// -----------------------
demo_servos(3);
// we don't want writes to the serial port to cause us to pause
// mid-flight, so set the serial ports non-blocking once we are
@ -326,93 +326,93 @@ static void startup_ground(void) @@ -326,93 +326,93 @@ static void startup_ground(void)
Serial3.set_blocking_writes(false);
}
gcs_send_text_P(SEVERITY_LOW,PSTR("\n\n Ready to FLY."));
gcs_send_text_P(SEVERITY_LOW,PSTR("\n\n Ready to FLY."));
}
static void set_mode(byte mode)
{
if(control_mode == mode){
// don't switch modes if we are already in the correct mode.
return;
}
if(g.auto_trim > 0 && control_mode == MANUAL)
trim_control_surfaces();
control_mode = mode;
crash_timer = 0;
switch(control_mode)
{
case INITIALISING:
case MANUAL:
case CIRCLE:
case STABILIZE:
case FLY_BY_WIRE_A:
case FLY_BY_WIRE_B:
break;
case AUTO:
update_auto();
break;
case RTL:
do_RTL();
break;
case LOITER:
do_loiter_at_location();
break;
case GUIDED:
set_guided_WP();
break;
default:
do_RTL();
break;
}
if (g.log_bitmask & MASK_LOG_MODE)
Log_Write_Mode(control_mode);
if(control_mode == mode) {
// don't switch modes if we are already in the correct mode.
return;
}
if(g.auto_trim > 0 && control_mode == MANUAL)
trim_control_surfaces();
control_mode = mode;
crash_timer = 0;
switch(control_mode)
{
case INITIALISING:
case MANUAL:
case CIRCLE:
case STABILIZE:
case FLY_BY_WIRE_A:
case FLY_BY_WIRE_B:
break;
case AUTO:
update_auto();
break;
case RTL:
do_RTL();
break;
case LOITER:
do_loiter_at_location();
break;
case GUIDED:
set_guided_WP();
break;
default:
do_RTL();
break;
}
if (g.log_bitmask & MASK_LOG_MODE)
Log_Write_Mode(control_mode);
}
static void check_long_failsafe()
{
// only act on changes
// -------------------
if(failsafe != FAILSAFE_LONG && failsafe != FAILSAFE_GCS){
if(rc_override_active && millis() - rc_override_fs_timer > FAILSAFE_LONG_TIME) {
failsafe_long_on_event(FAILSAFE_LONG);
}
if(! rc_override_active && failsafe == FAILSAFE_SHORT && millis() - ch3_failsafe_timer > FAILSAFE_LONG_TIME) {
failsafe_long_on_event(FAILSAFE_LONG);
}
if(g.gcs_heartbeat_fs_enabled && millis() - rc_override_fs_timer > FAILSAFE_LONG_TIME) {
failsafe_long_on_event(FAILSAFE_GCS);
}
} else {
// We do not change state but allow for user to change mode
if(failsafe == FAILSAFE_GCS && millis() - rc_override_fs_timer < FAILSAFE_SHORT_TIME) failsafe = FAILSAFE_NONE;
if(failsafe == FAILSAFE_LONG && rc_override_active && millis() - rc_override_fs_timer < FAILSAFE_SHORT_TIME) failsafe = FAILSAFE_NONE;
if(failsafe == FAILSAFE_LONG && !rc_override_active && !ch3_failsafe) failsafe = FAILSAFE_NONE;
}
// only act on changes
// -------------------
if(failsafe != FAILSAFE_LONG && failsafe != FAILSAFE_GCS) {
if(rc_override_active && millis() - rc_override_fs_timer > FAILSAFE_LONG_TIME) {
failsafe_long_on_event(FAILSAFE_LONG);
}
if(!rc_override_active && failsafe == FAILSAFE_SHORT && millis() - ch3_failsafe_timer > FAILSAFE_LONG_TIME) {
failsafe_long_on_event(FAILSAFE_LONG);
}
if(g.gcs_heartbeat_fs_enabled && millis() - rc_override_fs_timer > FAILSAFE_LONG_TIME) {
failsafe_long_on_event(FAILSAFE_GCS);
}
} else {
// We do not change state but allow for user to change mode
if(failsafe == FAILSAFE_GCS && millis() - rc_override_fs_timer < FAILSAFE_SHORT_TIME) failsafe = FAILSAFE_NONE;
if(failsafe == FAILSAFE_LONG && rc_override_active && millis() - rc_override_fs_timer < FAILSAFE_SHORT_TIME) failsafe = FAILSAFE_NONE;
if(failsafe == FAILSAFE_LONG && !rc_override_active && !ch3_failsafe) failsafe = FAILSAFE_NONE;
}
}
static void check_short_failsafe()
{
// only act on changes
// -------------------
if(failsafe == FAILSAFE_NONE){
if(ch3_failsafe) { // The condition is checked and the flag ch3_failsafe is set in radio.pde
failsafe_short_on_event(FAILSAFE_SHORT);
}
}
if(failsafe == FAILSAFE_SHORT){
if(!ch3_failsafe) {
failsafe_short_off_event();
}
}
// only act on changes
// -------------------
if(failsafe == FAILSAFE_NONE) {
if(ch3_failsafe) { // The condition is checked and the flag ch3_failsafe is set in radio.pde
failsafe_short_on_event(FAILSAFE_SHORT);
}
}
if(failsafe == FAILSAFE_SHORT) {
if(!ch3_failsafe) {
failsafe_short_off_event();
}
}
}
@ -420,27 +420,27 @@ static void startup_IMU_ground(bool force_accel_level) @@ -420,27 +420,27 @@ static void startup_IMU_ground(bool force_accel_level)
{
#if HIL_MODE != HIL_MODE_ATTITUDE
gcs_send_text_P(SEVERITY_MEDIUM, PSTR("Warming up ADC..."));
mavlink_delay(500);
mavlink_delay(500);
// Makes the servos wiggle twice - about to begin IMU calibration - HOLD LEVEL AND STILL!!
// -----------------------
demo_servos(2);
// Makes the servos wiggle twice - about to begin IMU calibration - HOLD LEVEL AND STILL!!
// -----------------------
demo_servos(2);
gcs_send_text_P(SEVERITY_MEDIUM, PSTR("Beginning IMU calibration; do not move plane"));
mavlink_delay(1000);
mavlink_delay(1000);
imu.init(IMU::COLD_START, mavlink_delay, flash_leds, &timer_scheduler);
imu.init(IMU::COLD_START, mavlink_delay, flash_leds, &timer_scheduler);
if (force_accel_level || g.manual_level == 0) {
// when MANUAL_LEVEL is set to 1 we don't do accelerometer
// levelling on each boot, and instead rely on the user to do
// it once via the ground station
imu.init_accel(mavlink_delay, flash_leds);
}
ahrs.set_fly_forward(true);
ahrs.set_fly_forward(true);
ahrs.reset();
// read Baro pressure at ground
//-----------------------------
init_barometer();
// read Baro pressure at ground
//-----------------------------
init_barometer();
if (airspeed.enabled()) {
// initialize airspeed sensor
@ -452,54 +452,54 @@ static void startup_IMU_ground(bool force_accel_level) @@ -452,54 +452,54 @@ static void startup_IMU_ground(bool force_accel_level)
#endif // HIL_MODE_ATTITUDE
digitalWrite(B_LED_PIN, LED_ON); // Set LED B high to indicate IMU ready
digitalWrite(A_LED_PIN, LED_OFF);
digitalWrite(C_LED_PIN, LED_OFF);
digitalWrite(B_LED_PIN, LED_ON); // Set LED B high to indicate IMU ready
digitalWrite(A_LED_PIN, LED_OFF);
digitalWrite(C_LED_PIN, LED_OFF);
}
static void update_GPS_light(void)
{
// GPS LED on if we have a fix or Blink GPS LED if we are receiving data
// ---------------------------------------------------------------------
switch (g_gps->status()) {
case(2):
digitalWrite(C_LED_PIN, LED_ON); //Turn LED C on when gps has valid fix.
break;
case(1):
if (g_gps->valid_read == true){
GPS_light = !GPS_light; // Toggle light on and off to indicate gps messages being received, but no GPS fix lock
if (GPS_light){
digitalWrite(C_LED_PIN, LED_OFF);
} else {
digitalWrite(C_LED_PIN, LED_ON);
}
g_gps->valid_read = false;
}
break;
default:
digitalWrite(C_LED_PIN, LED_OFF);
break;
}
// GPS LED on if we have a fix or Blink GPS LED if we are receiving data
// ---------------------------------------------------------------------
switch (g_gps->status()) {
case (2):
digitalWrite(C_LED_PIN, LED_ON); //Turn LED C on when gps has valid fix.
break;
case (1):
if (g_gps->valid_read == true) {
GPS_light = !GPS_light; // Toggle light on and off to indicate gps messages being received, but no GPS fix lock
if (GPS_light) {
digitalWrite(C_LED_PIN, LED_OFF);
} else {
digitalWrite(C_LED_PIN, LED_ON);
}
g_gps->valid_read = false;
}
break;
default:
digitalWrite(C_LED_PIN, LED_OFF);
break;
}
}
static void resetPerfData(void) {
mainLoop_count = 0;
G_Dt_max = 0;
imu.adc_constraints = 0;
ahrs.renorm_range_count = 0;
ahrs.renorm_blowup_count = 0;
gps_fix_count = 0;
pmTest1 = 0;
perf_mon_timer = millis();
mainLoop_count = 0;
G_Dt_max = 0;
imu.adc_constraints = 0;
ahrs.renorm_range_count = 0;
ahrs.renorm_blowup_count = 0;
gps_fix_count = 0;
pmTest1 = 0;
perf_mon_timer = millis();
}
/*
map from a 8 bit EEPROM baud rate to a real baud rate
* map from a 8 bit EEPROM baud rate to a real baud rate
*/
static uint32_t map_baudrate(int8_t rate, uint32_t default_baud)
{
@ -539,13 +539,13 @@ static void check_usb_mux(void) @@ -539,13 +539,13 @@ static void check_usb_mux(void)
/*
called by gyro/accel init to flash LEDs so user
has some mesmerising lights to watch while waiting
* called by gyro/accel init to flash LEDs so user
* has some mesmerising lights to watch while waiting
*/
void flash_leds(bool on)
{
digitalWrite(A_LED_PIN, on?LED_OFF:LED_ON);
digitalWrite(C_LED_PIN, on?LED_ON:LED_OFF);
digitalWrite(A_LED_PIN, on ? LED_OFF : LED_ON);
digitalWrite(C_LED_PIN, on ? LED_ON : LED_OFF);
}
/*

Write Preview
Loading…
Cancel
Save