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Code Issues Releases Activity

uncrustify

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This commit is contained in:
Corvus Corax 2014-05-08 21:21:50 +02:00
parent 96904bdf50
commit 48b9edc1e0
1 changed files with 11 additions and 9 deletions
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20
flight/modules/Sensors/sensors.c
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@ -84,7 +84,9 @@ AccelGyroSettingsData agcal;
// These values are initialized by settings but can be updated by the attitude algorithm // These values are initialized by settings but can be updated by the attitude algorithm
static float mag_bias[3] = { 0, 0, 0 }; static float mag_bias[3] = { 0, 0, 0 };
static float mag_transform[3][3]={{ 1, 0, 0 }, { 0, 1, 0 }, { 0, 0, 1}}; static float mag_transform[3][3] = {
{ 1, 0, 0 }, { 0, 1, 0 }, { 0, 0, 1 }
};
// temp coefficient to calculate gyro bias // temp coefficient to calculate gyro bias
static volatile bool gyro_temp_calibrated = false; static volatile bool gyro_temp_calibrated = false;
static volatile bool accel_temp_calibrated = false; static volatile bool accel_temp_calibrated = false;
@ -442,9 +444,9 @@ 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;
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) &&
(fabsf(agcal.accel_temp_coeff.X) > 1e-9f || fabsf(agcal.accel_temp_coeff.Y) > 1e-9f || fabsf(agcal.accel_temp_coeff.Z) > 1e-9f); (fabsf(agcal.accel_temp_coeff.X) > 1e-9f || fabsf(agcal.accel_temp_coeff.Y) > 1e-9f || fabsf(agcal.accel_temp_coeff.Z) > 1e-9f);
@ -459,16 +461,16 @@ static void settingsUpdatedCb(__attribute__((unused)) UAVObjEvent *objEv)
// Indicates not to expend cycles on rotation // Indicates not to expend cycles on rotation
if (fabsf(attitudeSettings.BoardRotation.Roll) < 0.00001f if (fabsf(attitudeSettings.BoardRotation.Roll) < 0.00001f
&& fabsf(attitudeSettings.BoardRotation.Pitch) < 0.00001f && && fabsf(attitudeSettings.BoardRotation.Pitch) < 0.00001f &&
fabsf(attitudeSettings.BoardRotation.Yaw) <0.00001f ) { fabsf(attitudeSettings.BoardRotation.Yaw) < 0.00001f) {
rotate = 0; rotate = 0;
} else { } else {
rotate = 1; rotate = 1;
} }
float rotationQuat[4]; float rotationQuat[4];
const float rpy[3] = { attitudeSettings.BoardRotation.Roll, const float rpy[3] = { attitudeSettings.BoardRotation.Roll,
attitudeSettings.BoardRotation.Pitch, attitudeSettings.BoardRotation.Pitch,
attitudeSettings.BoardRotation.Yaw }; attitudeSettings.BoardRotation.Yaw };
RPY2Quaternion(rpy, rotationQuat); RPY2Quaternion(rpy, rotationQuat);
Quaternion2R(rotationQuat, R); Quaternion2R(rotationQuat, R);