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Code Issues Releases Activity

OP-1149/OP-1150: uncrustify/Cleanup

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This commit is contained in:
Alessio Morale 2014-02-02 18:53:35 +01:00
parent e599b01806
commit 27c19d7cb1
3 changed files with 82 additions and 86 deletions
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85
flight/modules/Sensors/sensors.c
View File

@ -350,19 +350,19 @@ static void SensorsTask(__attribute__((unused)) void *parameters)
} }
// Scale the accels // Scale the accels
float accels[3] = { (float)accel_accum[0] / accel_samples, float accels[3] = { (float)accel_accum[0] / accel_samples,
(float)accel_accum[1] / accel_samples, (float)accel_accum[1] / accel_samples,
(float)accel_accum[2] / accel_samples }; (float)accel_accum[2] / accel_samples };
float accels_out[3] = { accels[0] * accel_scaling * accel_scale[0] - accel_bias[0], float accels_out[3] = { accels[0] * accel_scaling * accel_scale[0] - accel_bias[0],
accels[1] * accel_scaling * accel_scale[1] - accel_bias[1], accels[1] * accel_scaling * accel_scale[1] - accel_bias[1],
accels[2] * accel_scaling * accel_scale[2] - accel_bias[2] }; accels[2] * accel_scaling * accel_scale[2] - accel_bias[2] };
if(accel_temp_calibrated){ if (accel_temp_calibrated) {
float ctemp = accelSensorData.temperature > calibrated_temp_max ? calibrated_temp_max : float ctemp = accelSensorData.temperature > calibrated_temp_max ? calibrated_temp_max :
(accelSensorData.temperature < calibrated_temp_min ? calibrated_temp_min (accelSensorData.temperature < calibrated_temp_min ? calibrated_temp_min
: accelSensorData.temperature ); : accelSensorData.temperature);
accels_out[0] -= accel_temp_coeff[0] * ctemp; accels_out[0] -= accel_temp_coeff[0] * ctemp;
accels_out[1] -= accel_temp_coeff[1] * ctemp; accels_out[1] -= accel_temp_coeff[1] * ctemp;
accels_out[2] -= accel_temp_coeff[2] * ctemp; accels_out[2] -= accel_temp_coeff[2] * ctemp;
@ -381,18 +381,18 @@ static void SensorsTask(__attribute__((unused)) void *parameters)
AccelSensorSet(&accelSensorData); AccelSensorSet(&accelSensorData);
// Scale the gyros // Scale the gyros
float gyros[3] = { (float)gyro_accum[0] / gyro_samples, float gyros[3] = { (float)gyro_accum[0] / gyro_samples,
(float)gyro_accum[1] / gyro_samples, (float)gyro_accum[1] / gyro_samples,
(float)gyro_accum[2] / gyro_samples }; (float)gyro_accum[2] / gyro_samples };
float gyros_out[3] = { gyros[0] * gyro_scaling * gyro_scale[0] - gyro_staticbias[0], float gyros_out[3] = { gyros[0] * gyro_scaling * gyro_scale[0] - gyro_staticbias[0],
gyros[1] * gyro_scaling * gyro_scale[1] - gyro_staticbias[1], gyros[1] * gyro_scaling * gyro_scale[1] - gyro_staticbias[1],
gyros[2] * gyro_scaling * gyro_scale[2] - gyro_staticbias[2]}; gyros[2] * gyro_scaling * gyro_scale[2] - gyro_staticbias[2] };
if(gyro_temp_calibrated){ if (gyro_temp_calibrated) {
float ctemp = gyroSensorData.temperature > calibrated_temp_max ? calibrated_temp_max : float ctemp = gyroSensorData.temperature > calibrated_temp_max ? calibrated_temp_max :
(gyroSensorData.temperature < calibrated_temp_min ? calibrated_temp_min (gyroSensorData.temperature < calibrated_temp_min ? calibrated_temp_min
: gyroSensorData.temperature ); : gyroSensorData.temperature);
gyros_out[0] -= gyro_temp_coeff[0] * ctemp; gyros_out[0] -= gyro_temp_coeff[0] * ctemp;
gyros_out[1] -= gyro_temp_coeff[1] * ctemp; gyros_out[1] -= gyro_temp_coeff[1] * ctemp;
gyros_out[2] -= (gyro_temp_coeff[2] + gyro_temp_coeff[3] * ctemp) * ctemp; gyros_out[2] -= (gyro_temp_coeff[2] + gyro_temp_coeff[3] * ctemp) * ctemp;
@ -454,41 +454,40 @@ static void settingsUpdatedCb(__attribute__((unused)) UAVObjEvent *objEv)
{ {
RevoCalibrationGet(&cal); RevoCalibrationGet(&cal);
AccelGyroSettingsGet(&agcal); AccelGyroSettingsGet(&agcal);
mag_bias[0] = cal.mag_bias.X; mag_bias[0] = cal.mag_bias.X;
mag_bias[1] = cal.mag_bias.Y; mag_bias[1] = cal.mag_bias.Y;
mag_bias[2] = cal.mag_bias.Z; mag_bias[2] = cal.mag_bias.Z;
mag_scale[0] = cal.mag_scale.X; mag_scale[0] = cal.mag_scale.X;
mag_scale[1] = cal.mag_scale.Y; mag_scale[1] = cal.mag_scale.Y;
mag_scale[2] = cal.mag_scale.Z; mag_scale[2] = cal.mag_scale.Z;
accel_bias[0] = agcal.accel_bias.X; accel_bias[0] = agcal.accel_bias.X;
accel_bias[1] = agcal.accel_bias.Y; accel_bias[1] = agcal.accel_bias.Y;
accel_bias[2] = agcal.accel_bias.Z; accel_bias[2] = agcal.accel_bias.Z;
accel_scale[0] = agcal.accel_scale.X; accel_scale[0] = agcal.accel_scale.X;
accel_scale[1] = agcal.accel_scale.Y; accel_scale[1] = agcal.accel_scale.Y;
accel_scale[2] = agcal.accel_scale.Z; accel_scale[2] = agcal.accel_scale.Z;
gyro_staticbias[0] = agcal.gyro_bias.X; gyro_staticbias[0] = agcal.gyro_bias.X;
gyro_staticbias[1] = agcal.gyro_bias.Y; gyro_staticbias[1] = agcal.gyro_bias.Y;
gyro_staticbias[2] = agcal.gyro_bias.Z; gyro_staticbias[2] = agcal.gyro_bias.Z;
gyro_scale[0] = agcal.gyro_scale.X; gyro_scale[0] = agcal.gyro_scale.X;
gyro_scale[1] = agcal.gyro_scale.Y; gyro_scale[1] = agcal.gyro_scale.Y;
gyro_scale[2] = agcal.gyro_scale.Z; gyro_scale[2] = agcal.gyro_scale.Z;
gyro_temp_coeff[0] = agcal.gyro_temp_coeff.X; gyro_temp_coeff[0] = agcal.gyro_temp_coeff.X;
gyro_temp_coeff[1] = agcal.gyro_temp_coeff.Y; gyro_temp_coeff[1] = agcal.gyro_temp_coeff.Y;
gyro_temp_coeff[2] = agcal.gyro_temp_coeff.Z; gyro_temp_coeff[2] = agcal.gyro_temp_coeff.Z;
gyro_temp_coeff[3] = agcal.gyro_temp_coeff.Z2; gyro_temp_coeff[3] = agcal.gyro_temp_coeff.Z2;
accel_temp_coeff[0] = agcal.accel_temp_coeff.X; accel_temp_coeff[0] = agcal.accel_temp_coeff.X;
accel_temp_coeff[1] = agcal.accel_temp_coeff.Y; accel_temp_coeff[1] = agcal.accel_temp_coeff.Y;
accel_temp_coeff[2] = agcal.accel_temp_coeff.Z; accel_temp_coeff[2] = agcal.accel_temp_coeff.Z;
calibrated_temp_max = agcal.temp_calibrated_extent.max; calibrated_temp_max = agcal.temp_calibrated_extent.max;
calibrated_temp_min = agcal.temp_calibrated_extent.min; calibrated_temp_min = agcal.temp_calibrated_extent.min;
accel_temp_calibrated = (agcal.temp_calibrated_extent.max - agcal.temp_calibrated_extent.min > .1f) && accel_temp_calibrated = (agcal.temp_calibrated_extent.max - agcal.temp_calibrated_extent.min > .1f) &&
agcal.accel_temp_coeff.X > 1e-9f && agcal.accel_temp_coeff.Y > 1e-9f && agcal.accel_temp_coeff.Z > 1e-9f; agcal.accel_temp_coeff.X > 1e-9f && agcal.accel_temp_coeff.Y > 1e-9f && agcal.accel_temp_coeff.Z > 1e-9f;
gyro_temp_calibrated = (agcal.temp_calibrated_extent.max - agcal.temp_calibrated_extent.min > .1f) &&
agcal.gyro_temp_coeff.X > 1e-9f && agcal.gyro_temp_coeff.Y > 1e-9f &&
agcal.gyro_temp_coeff.Z > 1e-9f && agcal.gyro_temp_coeff.Z2 > 1e-9f;
gyro_temp_calibrated = (agcal.temp_calibrated_extent.max - agcal.temp_calibrated_extent.min > .1f) &&
agcal.gyro_temp_coeff.X > 1e-9f && agcal.gyro_temp_coeff.Y > 1e-9f &&
agcal.gyro_temp_coeff.Z > 1e-9f && agcal.gyro_temp_coeff.Z2 > 1e-9f;
AttitudeSettingsData attitudeSettings; AttitudeSettingsData attitudeSettings;

80
ground/openpilotgcs/src/plugins/config/calibration/thermal/thermalcalibrationhelper.cpp
View File

@ -263,10 +263,10 @@ void ThermalCalibrationHelper::collectSample(UAVObject *sample)
Q_ASSERT(reading); Q_ASSERT(reading);
m_accelSamples.append(reading->getData()); m_accelSamples.append(reading->getData());
m_debugStream << "ACCEL:: " << m_accelSamples.last().temperature << m_debugStream << "ACCEL:: " << m_accelSamples.last().temperature <<
"\t" << QDateTime::currentDateTime().toString("hh.mm.ss.zzz") << "\t" << QDateTime::currentDateTime().toString("hh.mm.ss.zzz") <<
"\t" << m_accelSamples.last().x << "\t" << m_accelSamples.last().x <<
"\t" << m_accelSamples.last().y << "\t" << m_accelSamples.last().y <<
"\t" << m_accelSamples.last().z << endl; "\t" << m_accelSamples.last().z << endl;
break; break;
} }
@ -276,10 +276,10 @@ void ThermalCalibrationHelper::collectSample(UAVObject *sample)
Q_ASSERT(reading); Q_ASSERT(reading);
m_gyroSamples.append(reading->getData()); m_gyroSamples.append(reading->getData());
m_debugStream << "GYRO:: " << m_gyroSamples.last().temperature << m_debugStream << "GYRO:: " << m_gyroSamples.last().temperature <<
"\t" << QDateTime::currentDateTime().toString("hh.mm.ss.zzz") << "\t" << QDateTime::currentDateTime().toString("hh.mm.ss.zzz") <<
"\t" << m_gyroSamples.last().x << "\t" << m_gyroSamples.last().x <<
"\t" << m_gyroSamples.last().y << "\t" << m_gyroSamples.last().y <<
"\t" << m_gyroSamples.last().z << endl; "\t" << m_gyroSamples.last().z << endl;
break; break;
} }
case BaroSensor::OBJID: case BaroSensor::OBJID:
@ -288,9 +288,9 @@ void ThermalCalibrationHelper::collectSample(UAVObject *sample)
Q_ASSERT(reading); Q_ASSERT(reading);
m_baroSamples.append(reading->getData()); m_baroSamples.append(reading->getData());
m_debugStream << "BARO:: " << m_baroSamples.last().Temperature << m_debugStream << "BARO:: " << m_baroSamples.last().Temperature <<
"\t" << QDateTime::currentDateTime().toString("hh.mm.ss.zzz") << "\t" << QDateTime::currentDateTime().toString("hh.mm.ss.zzz") <<
"\t" << m_baroSamples.last().Pressure << "\t" << m_baroSamples.last().Pressure <<
"\t" << m_baroSamples.last().Altitude << endl; "\t" << m_baroSamples.last().Altitude << endl;
// this is needed as temperature is low pass filtered // this is needed as temperature is low pass filtered
m_temperature = reading->getTemperature(); m_temperature = reading->getTemperature();
updateTemp(m_temperature); updateTemp(m_temperature);
@ -302,10 +302,10 @@ void ThermalCalibrationHelper::collectSample(UAVObject *sample)
Q_ASSERT(reading); Q_ASSERT(reading);
m_magSamples.append(reading->getData()); m_magSamples.append(reading->getData());
m_debugStream << "MAG:: " << m_debugStream << "MAG:: " <<
"\t" << QDateTime::currentDateTime().toString("hh.mm.ss.zzz") << "\t" << QDateTime::currentDateTime().toString("hh.mm.ss.zzz") <<
"\t" << m_magSamples.last().x << "\t" << m_magSamples.last().x <<
"\t" << m_magSamples.last().y << "\t" << m_magSamples.last().y <<
"\t" << m_magSamples.last().z << endl; "\t" << m_magSamples.last().z << endl;
break; break;
} }
default: default:
@ -355,7 +355,7 @@ void ThermalCalibrationHelper::calculate()
datat[x] = m_gyroSamples[x].temperature; datat[x] = m_gyroSamples[x].temperature;
} }
m_results.gyroCalibrated = ThermalCalibration::GyroscopeCalibration(datax, datay, dataz, datat, m_results.gyro, m_results.gyroInSigma, m_results.gyroOutSigma); m_results.gyroCalibrated = ThermalCalibration::GyroscopeCalibration(datax, datay, dataz, datat, m_results.gyro, m_results.gyroInSigma, m_results.gyroOutSigma);
m_results.accelGyroTempMin = datat.array().minCoeff(); m_results.accelGyroTempMin = datat.array().minCoeff();
m_results.accelGyroTempMax = datat.array().maxCoeff(); m_results.accelGyroTempMax = datat.array().maxCoeff();
// TODO: sanity checks needs to be enforced before accel calibration can be enabled and usable. // TODO: sanity checks needs to be enforced before accel calibration can be enabled and usable.
@ -376,27 +376,26 @@ void ThermalCalibrationHelper::calculate()
m_results.accelCalibrated = ThermalCalibration::AccelerometerCalibration(datax, datay, dataz, datat, m_results.accel); m_results.accelCalibrated = ThermalCalibration::AccelerometerCalibration(datax, datay, dataz, datat, m_results.accel);
*/ */
m_results.accelCalibrated = false; m_results.accelCalibrated = false;
QString str; QString str;
str += QStringLiteral("info::Calibration results"); str += QStringLiteral("info::Calibration results");
str += QStringLiteral("info::Baro cal {%1, %2, %3, %4}; initial variance: %5; Calibrated variance %6") str += QStringLiteral("info::Baro cal {%1, %2, %3, %4}; initial variance: %5; Calibrated variance %6")
.arg(m_results.baro[0]).arg(m_results.baro[1]).arg(m_results.baro[2]).arg(m_results.baro[3]) .arg(m_results.baro[0]).arg(m_results.baro[1]).arg(m_results.baro[2]).arg(m_results.baro[3])
.arg(m_results.baroInSigma).arg(m_results.baroOutSigma) + QChar::CarriageReturn; .arg(m_results.baroInSigma).arg(m_results.baroOutSigma) + QChar::CarriageReturn;
str += QStringLiteral("info::Gyro cal x{%1} y{%2} z{%3, %4}; initial variance: {%5, %6, %7}; Calibrated variance {%8, %9, %10}") str += QStringLiteral("info::Gyro cal x{%1} y{%2} z{%3, %4}; initial variance: {%5, %6, %7}; Calibrated variance {%8, %9, %10}")
.arg(m_results.gyro[0]).arg(m_results.gyro[1]).arg(m_results.gyro[2]).arg(m_results.baro[3]) .arg(m_results.gyro[0]).arg(m_results.gyro[1]).arg(m_results.gyro[2]).arg(m_results.baro[3])
.arg(m_results.gyroInSigma[0]).arg(m_results.gyroInSigma[1]).arg(m_results.gyroInSigma[2]) .arg(m_results.gyroInSigma[0]).arg(m_results.gyroInSigma[1]).arg(m_results.gyroInSigma[2])
.arg(m_results.gyroOutSigma[0]).arg(m_results.gyroOutSigma[1]).arg(m_results.gyroOutSigma[2]) + QChar::CarriageReturn; .arg(m_results.gyroOutSigma[0]).arg(m_results.gyroOutSigma[1]).arg(m_results.gyroOutSigma[2]) + QChar::CarriageReturn;
str += QStringLiteral("info::Accel cal x{%1} y{%2} z{%3}; initial variance: {%4, %5, %6}; Calibrated variance {%7, %8, %9}") str += QStringLiteral("info::Accel cal x{%1} y{%2} z{%3}; initial variance: {%4, %5, %6}; Calibrated variance {%7, %8, %9}")
.arg(m_results.accel[0]).arg(m_results.accel[1]).arg(m_results.accel[2]) .arg(m_results.accel[0]).arg(m_results.accel[1]).arg(m_results.accel[2])
.arg(m_results.accelInSigma[0]).arg(m_results.accelInSigma[1]).arg(m_results.accelInSigma[2]) .arg(m_results.accelInSigma[0]).arg(m_results.accelInSigma[1]).arg(m_results.accelInSigma[2])
.arg(m_results.accelOutSigma[0]).arg(m_results.accelOutSigma[1]).arg(m_results.accelOutSigma[2]) + QChar::CarriageReturn; .arg(m_results.accelOutSigma[0]).arg(m_results.accelOutSigma[1]).arg(m_results.accelOutSigma[2]) + QChar::CarriageReturn;
qDebug() << str; qDebug() << str;
m_debugStream << str; m_debugStream << str;
copyResultToSettings(); copyResultToSettings();
emit calculationCompleted(); emit calculationCompleted();
closeDebugLog(); closeDebugLog();
} }
@ -439,9 +438,9 @@ void ThermalCalibrationHelper::updateTemp(float temp)
qDebug() << "M_gradient " << m_gradient << " Elapsed" << elapsed << " m_initialGradient" << m_initialGradient; qDebug() << "M_gradient " << m_gradient << " Elapsed" << elapsed << " m_initialGradient" << m_initialGradient;
// make a rough estimation of the time needed // make a rough estimation of the time needed
m_targetduration = elapsed * 8; m_targetduration = elapsed * 8;
if(m_debugFile.isOpen()){ if (m_debugFile.isOpen()) {
m_debugStream << "INFO::Trace gradient " << m_gradient << " Elapsed" << elapsed << " m_initialGradient" << m_initialGradient m_debugStream << "INFO::Trace gradient " << m_gradient << " Elapsed" << elapsed << " m_initialGradient" << m_initialGradient
<< " target:" << m_targetduration << endl; << " target:" << m_targetduration << endl;
} }
} }
} }
@ -488,14 +487,14 @@ void ThermalCalibrationHelper::disconnectUAVOs()
void ThermalCalibrationHelper::createDebugLog() void ThermalCalibrationHelper::createDebugLog()
{ {
if(m_debugFile.isOpen()){ if (m_debugFile.isOpen()) {
closeDebugLog(); closeDebugLog();
} }
if(m_tempdir->isValid()){ if (m_tempdir->isValid()) {
QString filename = QStringLiteral("thcaldebug_%1.txt").arg(QDateTime::currentDateTime().toString("dd.MM.yyyy-hh.mm.ss.zzz")); QString filename = QStringLiteral("thcaldebug_%1.txt").arg(QDateTime::currentDateTime().toString("dd.MM.yyyy-hh.mm.ss.zzz"));
QDir dir = QDir(m_tempdir->path()); QDir dir = QDir(m_tempdir->path());
m_debugFile.setFileName(dir.filePath(filename)); m_debugFile.setFileName(dir.filePath(filename));
if (!m_debugFile.open(QIODevice::WriteOnly | QIODevice::Text)){ if (!m_debugFile.open(QIODevice::WriteOnly | QIODevice::Text)) {
m_debugStream.setDevice(0); m_debugStream.setDevice(0);
return; return;
} }
@ -504,28 +503,27 @@ void ThermalCalibrationHelper::createDebugLog()
m_debugStream.setDevice(&m_debugFile); m_debugStream.setDevice(&m_debugFile);
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance(); ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectUtilManager *utilMngr = pm->getObject<UAVObjectUtilManager>(); UAVObjectUtilManager *utilMngr = pm->getObject<UAVObjectUtilManager>();
deviceDescriptorStruct board = utilMngr->getBoardDescriptionStruct(); deviceDescriptorStruct board = utilMngr->getBoardDescriptionStruct();
m_debugStream << "INFO::Hardware"; m_debugStream << "INFO::Hardware";
m_debugStream << " type:" << QString().setNum(board.boardType, 16); m_debugStream << " type:" << QString().setNum(board.boardType, 16);
m_debugStream << " revision:"<<QString().setNum(board.boardRevision, 16); m_debugStream << " revision:" << QString().setNum(board.boardRevision, 16);
m_debugStream << " serial:" << QString(utilMngr->getBoardCPUSerial().toHex()) << endl; m_debugStream << " serial:" << QString(utilMngr->getBoardCPUSerial().toHex()) << endl;
QString uavo = board.uavoHash.toHex(); QString uavo = board.uavoHash.toHex();
m_debugStream << "INFO::firmware tag:" << board.gitTag << " date:" << board.gitDate << " hash:" << board.gitHash << m_debugStream << "INFO::firmware tag:" << board.gitTag << " date:" << board.gitDate << " hash:" << board.gitHash <<
"uavo:" << uavo.left(8) << endl; "uavo:" << uavo.left(8) << endl;
m_debugStream << "INFO::gcs tag:" << VersionInfo::tagOrBranch() + VersionInfo::dirty() << " date:" << VersionInfo::dateTime() << m_debugStream << "INFO::gcs tag:" << VersionInfo::tagOrBranch() + VersionInfo::dirty() << " date:" << VersionInfo::dateTime() <<
" hash:" << VersionInfo::hash().left(8) << " uavo:" << VersionInfo::uavoHash().left(8) << endl; " hash:" << VersionInfo::hash().left(8) << " uavo:" << VersionInfo::uavoHash().left(8) << endl;
} }
} }
void ThermalCalibrationHelper::closeDebugLog() void ThermalCalibrationHelper::closeDebugLog()
{ {
if(m_debugFile.isOpen()){ if (m_debugFile.isOpen()) {
m_debugStream.flush(); m_debugStream.flush();
m_debugStream.setDevice(0); m_debugStream.setDevice(0);
m_debugFile.close(); m_debugFile.close();

3
ground/openpilotgcs/src/plugins/config/calibration/thermal/thermalcalibrationhelper.h
View File

@ -161,7 +161,7 @@ private:
void connectUAVOs(); void connectUAVOs();
void disconnectUAVOs(); void disconnectUAVOs();
QFile m_debugFile; QFile m_debugFile;
QTextStream m_debugStream; QTextStream m_debugStream;
QScopedPointer<QTemporaryDir> m_tempdir; QScopedPointer<QTemporaryDir> m_tempdir;
void createDebugLog(); void createDebugLog();
@ -211,7 +211,6 @@ private:
void setMetadataForCalibration(UAVDataObject *uavo); void setMetadataForCalibration(UAVDataObject *uavo);
UAVObjectManager *getObjectManager(); UAVObjectManager *getObjectManager();
//Q_DISABLE_COPY(ThermalCalibrationHelper)
}; };
} }
#endif // THERMALCALIBRATIONHELPER_H #endif // THERMALCALIBRATIONHELPER_H