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mirror of https://bitbucket.org/librepilot/librepilot.git synced 2024-11-29 07:24:13 +01:00

uncrustify

This commit is contained in:
Corvus Corax 2014-05-06 18:53:57 +02:00
parent a2ae0601bb
commit 56b5747b4e
3 changed files with 40 additions and 39 deletions

View File

@ -84,7 +84,9 @@ AccelGyroSettingsData agcal;
// 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_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
static volatile bool gyro_temp_calibrated = false;
static volatile bool accel_temp_calibrated = false;
@ -442,9 +444,9 @@ static void settingsUpdatedCb(__attribute__((unused)) UAVObjEvent *objEv)
{
RevoCalibrationGet(&cal);
AccelGyroSettingsGet(&agcal);
mag_bias[0] = cal.mag_bias.X;
mag_bias[1] = cal.mag_bias.Y;
mag_bias[2] = cal.mag_bias.Z;
mag_bias[0] = cal.mag_bias.X;
mag_bias[1] = cal.mag_bias.Y;
mag_bias[2] = cal.mag_bias.Z;
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);
@ -459,16 +461,16 @@ static void settingsUpdatedCb(__attribute__((unused)) UAVObjEvent *objEv)
// Indicates not to expend cycles on rotation
if (fabsf(attitudeSettings.BoardRotation.Roll) < 0.00001f
&& fabsf(attitudeSettings.BoardRotation.Pitch) < 0.00001f &&
fabsf(attitudeSettings.BoardRotation.Yaw) <0.00001f ) {
&& fabsf(attitudeSettings.BoardRotation.Pitch) < 0.00001f &&
fabsf(attitudeSettings.BoardRotation.Yaw) < 0.00001f) {
rotate = 0;
} else {
rotate = 1;
}
float rotationQuat[4];
const float rpy[3] = { attitudeSettings.BoardRotation.Roll,
attitudeSettings.BoardRotation.Pitch,
attitudeSettings.BoardRotation.Yaw };
const float rpy[3] = { attitudeSettings.BoardRotation.Roll,
attitudeSettings.BoardRotation.Pitch,
attitudeSettings.BoardRotation.Yaw };
RPY2Quaternion(rpy, rotationQuat);
Quaternion2R(rotationQuat, R);

View File

@ -47,36 +47,35 @@ SixPointCalibrationModel::SixPointCalibrationModel(QObject *parent) :
calibratingMag(false),
calibratingAccel(false),
collectingData(false)
{
calibrationStepsMag.clear();
calibrationStepsMag
<< CalibrationStep(CALIBRATION_HELPER_IMAGE_NED,
tr("Place horizontally, nose pointing north and click save position..."))
<< CalibrationStep(CALIBRATION_HELPER_IMAGE_DWN,
tr("Place with nose down, right side west and click save position..."))
<< CalibrationStep(CALIBRATION_HELPER_IMAGE_WDS,
tr("Place right side down, nose west and click save position..."))
<< CalibrationStep(CALIBRATION_HELPER_IMAGE_ENU,
tr("Place upside down, nose east and click save position..."))
<< CalibrationStep(CALIBRATION_HELPER_IMAGE_USE,
tr("Place with nose up, left side north and click save position..."))
<< CalibrationStep(CALIBRATION_HELPER_IMAGE_SUW,
tr("Place with left side down, nose south and click save position..."));
<< CalibrationStep(CALIBRATION_HELPER_IMAGE_NED,
tr("Place horizontally, nose pointing north and click save position..."))
<< CalibrationStep(CALIBRATION_HELPER_IMAGE_DWN,
tr("Place with nose down, right side west and click save position..."))
<< CalibrationStep(CALIBRATION_HELPER_IMAGE_WDS,
tr("Place right side down, nose west and click save position..."))
<< CalibrationStep(CALIBRATION_HELPER_IMAGE_ENU,
tr("Place upside down, nose east and click save position..."))
<< CalibrationStep(CALIBRATION_HELPER_IMAGE_USE,
tr("Place with nose up, left side north and click save position..."))
<< CalibrationStep(CALIBRATION_HELPER_IMAGE_SUW,
tr("Place with left side down, nose south and click save position..."));
calibrationStepsAccelOnly.clear();
calibrationStepsAccelOnly << CalibrationStep(CALIBRATION_HELPER_IMAGE_NED,
tr("Place horizontally and click save position..."))
<< CalibrationStep(CALIBRATION_HELPER_IMAGE_DWN,
tr("Place with nose down and click save position..."))
<< CalibrationStep(CALIBRATION_HELPER_IMAGE_WDS,
tr("Place right side down and click save position..."))
<< CalibrationStep(CALIBRATION_HELPER_IMAGE_ENU,
tr("Place upside down and click save position..."))
<< CalibrationStep(CALIBRATION_HELPER_IMAGE_USE,
tr("Place with nose up and click save position..."))
<< CalibrationStep(CALIBRATION_HELPER_IMAGE_SUW,
tr("Place with left side down and click save position..."));
tr("Place horizontally and click save position..."))
<< CalibrationStep(CALIBRATION_HELPER_IMAGE_DWN,
tr("Place with nose down and click save position..."))
<< CalibrationStep(CALIBRATION_HELPER_IMAGE_WDS,
tr("Place right side down and click save position..."))
<< CalibrationStep(CALIBRATION_HELPER_IMAGE_ENU,
tr("Place upside down and click save position..."))
<< CalibrationStep(CALIBRATION_HELPER_IMAGE_USE,
tr("Place with nose up and click save position..."))
<< CalibrationStep(CALIBRATION_HELPER_IMAGE_SUW,
tr("Place with left side down and click save position..."));
}
/********** Six point calibration **************/
@ -103,7 +102,7 @@ void SixPointCalibrationModel::start(bool calibrateAccel, bool calibrateMag)
// Store and reset board rotation before calibration starts
storeAndClearBoardRotation();
if(calibrateMag){
if (calibrateMag) {
currentSteps = &calibrationStepsMag;
} else {
currentSteps = &calibrationStepsAccelOnly;

View File

@ -41,15 +41,15 @@ namespace OpenPilot {
class SixPointCalibrationModel : public QObject {
Q_OBJECT
class CalibrationStep{
public:
CalibrationStep(QString newVisualHelp, QString newInstructions){
visualHelp = newVisualHelp;
class CalibrationStep {
public:
CalibrationStep(QString newVisualHelp, QString newInstructions)
{
visualHelp = newVisualHelp;
instructions = newInstructions;
}
QString visualHelp;
QString instructions;
};
typedef struct {