From c99da6650698eba265bbbbda64007b360c1e9c65 Mon Sep 17 00:00:00 2001
From: Jason Short <jasonshort@mac.com>
Date: Sat, 3 Dec 2011 15:29:23 -0800
Subject: [PATCH] Formatting, swicth Omega to raw IMU rates
---
ArduCopter/ArduCopter.pde | 81 +++++++++++++++++++--------------------
1 file changed, 39 insertions(+), 42 deletions(-)
diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index 8cd529e4ff..687751530e 100644
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@@ -151,10 +151,10 @@ static AP_Int8 *flight_modes = &g.flight_mode1;
#if HIL_MODE == HIL_MODE_DISABLED
- // real sensors
- #if CONFIG_ADC == ENABLED
+// real sensors
+#if CONFIG_ADC == ENABLED
AP_ADC_ADS7844 adc;
- #endif
+#endif
#ifdef DESKTOP_BUILD
APM_BMP085_HIL_Class barometer;
@@ -164,35 +164,35 @@ static AP_Int8 *flight_modes = &g.flight_mode1;
AP_Compass_HMC5843 compass(Parameters::k_param_compass);
#endif
- #ifdef OPTFLOW_ENABLED
- AP_OpticalFlow_ADNS3080 optflow;
- #endif
+#ifdef OPTFLOW_ENABLED
+ AP_OpticalFlow_ADNS3080 optflow;
+#endif
- // real GPS selection
- #if GPS_PROTOCOL == GPS_PROTOCOL_AUTO
- AP_GPS_Auto g_gps_driver(&Serial1, &g_gps);
+// real GPS selection
+#if GPS_PROTOCOL == GPS_PROTOCOL_AUTO
+ AP_GPS_Auto g_gps_driver(&Serial1, &g_gps);
- #elif GPS_PROTOCOL == GPS_PROTOCOL_NMEA
- AP_GPS_NMEA g_gps_driver(&Serial1);
+#elif GPS_PROTOCOL == GPS_PROTOCOL_NMEA
+ AP_GPS_NMEA g_gps_driver(&Serial1);
- #elif GPS_PROTOCOL == GPS_PROTOCOL_SIRF
- AP_GPS_SIRF g_gps_driver(&Serial1);
+#elif GPS_PROTOCOL == GPS_PROTOCOL_SIRF
+ AP_GPS_SIRF g_gps_driver(&Serial1);
- #elif GPS_PROTOCOL == GPS_PROTOCOL_UBLOX
- AP_GPS_UBLOX g_gps_driver(&Serial1);
+#elif GPS_PROTOCOL == GPS_PROTOCOL_UBLOX
+ AP_GPS_UBLOX g_gps_driver(&Serial1);
- #elif GPS_PROTOCOL == GPS_PROTOCOL_MTK
- AP_GPS_MTK g_gps_driver(&Serial1);
+#elif GPS_PROTOCOL == GPS_PROTOCOL_MTK
+ AP_GPS_MTK g_gps_driver(&Serial1);
- #elif GPS_PROTOCOL == GPS_PROTOCOL_MTK16
- AP_GPS_MTK16 g_gps_driver(&Serial1);
+#elif GPS_PROTOCOL == GPS_PROTOCOL_MTK16
+ AP_GPS_MTK16 g_gps_driver(&Serial1);
- #elif GPS_PROTOCOL == GPS_PROTOCOL_NONE
- AP_GPS_None g_gps_driver(NULL);
+#elif GPS_PROTOCOL == GPS_PROTOCOL_NONE
+ AP_GPS_None g_gps_driver(NULL);
- #else
- #error Unrecognised GPS_PROTOCOL setting.
- #endif // GPS PROTOCOL
+#else
+ #error Unrecognised GPS_PROTOCOL setting.
+#endif // GPS PROTOCOL
#if CONFIG_IMU_TYPE == CONFIG_IMU_MPU6000
AP_InertialSensor_MPU6000 ins( CONFIG_MPU6000_CHIP_SELECT_PIN );
@@ -246,19 +246,16 @@ GCS_MAVLINK gcs3(Parameters::k_param_streamrates_port3);
//
ModeFilter sonar_mode_filter;
#if CONFIG_SONAR == ENABLED
-
-#if CONFIG_SONAR_SOURCE == SONAR_SOURCE_ADC
-AP_AnalogSource_ADC sonar_analog_source( &adc,
- CONFIG_SONAR_SOURCE_ADC_CHANNEL, 0.25);
-#elif CONFIG_SONAR_SOURCE == SONAR_SOURCE_ANALOG_PIN
-AP_AnalogSource_Arduino sonar_analog_source(CONFIG_SONAR_SOURCE_ANALOG_PIN);
-#endif
-
-#if SONAR_TYPE == MAX_SONAR_XL
- AP_RangeFinder_MaxsonarXL sonar(&sonar_analog_source, &sonar_mode_filter);
-#else
- #error Unrecognised SONAR_TYPE setting.
-#endif
+ #if CONFIG_SONAR_SOURCE == SONAR_SOURCE_ADC
+ AP_AnalogSource_ADC sonar_analog_source( &adc, CONFIG_SONAR_SOURCE_ADC_CHANNEL, 0.25);
+ #elif CONFIG_SONAR_SOURCE == SONAR_SOURCE_ANALOG_PIN
+ AP_AnalogSource_Arduino sonar_analog_source(CONFIG_SONAR_SOURCE_ANALOG_PIN);
+ #endif
+ #if SONAR_TYPE == MAX_SONAR_XL
+ AP_RangeFinder_MaxsonarXL sonar(&sonar_analog_source, &sonar_mode_filter);
+ #else
+ #error Unrecognised SONAR_TYPE setting.
+ #endif
#endif
// agmatthews USERHOOKS
@@ -560,7 +557,7 @@ static bool new_radio_frame;
AP_Relay relay;
#if USB_MUX_PIN > 0
-static bool usb_connected;
+ static bool usb_connected;
#endif
@@ -748,7 +745,7 @@ static void medium_loop()
//-------------------------------------------------
case 3:
medium_loopCounter++;
- // test
+
// perform next command
// --------------------
if(control_mode == AUTO){
@@ -923,9 +920,9 @@ static void slow_loop()
update_motor_leds();
#endif
-#if USB_MUX_PIN > 0
+ #if USB_MUX_PIN > 0
check_usb_mux();
-#endif
+ #endif
break;
default:
@@ -1270,7 +1267,7 @@ static void read_AHRS(void)
#endif
dcm.update_DCM_fast();
- omega = dcm.get_gyro();
+ omega = imu.get_gyro();
}
static void update_trig(void){