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Code Issues Releases Activity

Fixed tab stops in two c files.

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This commit is contained in:
Cliff Geerdes 2013-01-31 05:38:10 -05:00
parent 6806e895cc
commit 5e2aeeea76
2 changed files with 43 additions and 43 deletions
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8
flight/Modules/Actuator/actuator.c
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@ -206,10 +206,10 @@ static void actuatorTask(void* parameters)
// Check how long since last update
thisSysTime = xTaskGetTickCount();
// reuse dt in case of wraparound
// todo (theothercliff thinks this might be needed):
// if dT actually matters...
// fix it to know max value and subtract for currently correct dT on wrap
// reuse dt in case of wraparound
// todo:
// if dT actually matters...
// fix it to know max value and subtract for currently correct dT on wrap
if(thisSysTime > lastSysTime)
dT = (thisSysTime - lastSysTime) * (portTICK_RATE_MS * 0.001f);
lastSysTime = thisSysTime;

78
flight/Modules/CameraStab/camerastab.c
View File

@ -161,11 +161,11 @@ static void attitudeUpdated(UAVObjEvent* ev)
(float)SAMPLE_PERIOD_MS;
csd->lastSysTime = thisSysTime;
// storage for elevon roll component before the pitch component has been generated
// we are guaranteed that the iteration order of i is roll pitch yaw
// that guarnteees this won't be used uninited, but the compiler doesn't know that
// so we init it or turn the warning/error off for each compiler
float elevon_roll = 0.0;
// storage for elevon roll component before the pitch component has been generated
// we are guaranteed that the iteration order of i is roll pitch yaw
// that guarnteees this won't be used uninited, but the compiler doesn't know that
// so we init it or turn the warning/error off for each compiler
float elevon_roll = 0.0;
// process axes
for (uint8_t i = 0; i < CAMERASTABSETTINGS_INPUT_NUMELEM; i++) {
@ -218,47 +218,47 @@ static void attitudeUpdated(UAVObjEvent* ev)
applyFeedForward(i, dT_millis, &attitude, &cameraStab);
#endif
// bounding for elevon mixing occurs on the unmixed output
// to limit the range of the mixed output you must limit the range
// of both the unmixed pitch and unmixed roll
// bounding for elevon mixing occurs on the unmixed output
// to limit the range of the mixed output you must limit the range
// of both the unmixed pitch and unmixed roll
float output = bound((attitude + csd->inputs[i]) / cameraStab.OutputRange[i], 1.0f);
// set output channels
switch (i) {
case CAMERASTABSETTINGS_INPUT_ROLL:
// we are guaranteed that the iteration order of i is roll pitch yaw
// for elevon mixing we simply grab the value for later use
if (cameraStab.GimbalType == CAMERASTABSETTINGS_GIMBALTYPE_ELEVONSSGYAWPITCHROLL) {
elevon_roll = output;
}
else {
CameraDesiredRollOrServo1Set(&output);
}
// we are guaranteed that the iteration order of i is roll pitch yaw
// for elevon mixing we simply grab the value for later use
if (cameraStab.GimbalType == CAMERASTABSETTINGS_GIMBALTYPE_ELEVONSSGYAWPITCHROLL) {
elevon_roll = output;
}
else {
CameraDesiredRollOrServo1Set(&output);
}
break;
case CAMERASTABSETTINGS_INPUT_PITCH:
// we are guaranteed that the iteration order of i is roll pitch yaw
// for elevon mixing we use the value we previously grabbed and set both s1 and s2
if (cameraStab.GimbalType == CAMERASTABSETTINGS_GIMBALTYPE_ELEVONSSGYAWPITCHROLL) {
float elevon_pitch;
elevon_pitch = output;
output = (elevon_pitch + elevon_roll) / 2;
CameraDesiredRollOrServo1Set(&output);
// elevon reversing works like this:
// first use the normal reversing facilities to get servo 1 working in the correct direction
// for both roll and pitch
// then use the new reversing switches to reverse servo 2 roll and/or pitch as needed
if (cameraStab.ElevonSSGServo2RollReverse == CAMERASTABSETTINGS_ELEVONSSGSERVO2ROLLREVERSE_TRUE) {
elevon_roll = 1.0 - elevon_roll;
}
if (cameraStab.ElevonSSGServo2PitchReverse == CAMERASTABSETTINGS_ELEVONSSGSERVO2PITCHREVERSE_TRUE) {
elevon_pitch = 1.0 - elevon_pitch;
}
output = (elevon_pitch - elevon_roll) / 2;
CameraDesiredPitchOrServo2Set(&output);
}
else {
CameraDesiredPitchOrServo2Set(&output);
}
// we are guaranteed that the iteration order of i is roll pitch yaw
// for elevon mixing we use the value we previously grabbed and set both s1 and s2
if (cameraStab.GimbalType == CAMERASTABSETTINGS_GIMBALTYPE_ELEVONSSGYAWPITCHROLL) {
float elevon_pitch;
elevon_pitch = output;
output = (elevon_pitch + elevon_roll) / 2;
CameraDesiredRollOrServo1Set(&output);
// elevon reversing works like this:
// first use the normal reversing facilities to get servo 1 working in the correct direction
// for both roll and pitch
// then use the new reversing switches to reverse servo 2 roll and/or pitch as needed
if (cameraStab.ElevonSSGServo2RollReverse == CAMERASTABSETTINGS_ELEVONSSGSERVO2ROLLREVERSE_TRUE) {
elevon_roll = 1.0 - elevon_roll;
}
if (cameraStab.ElevonSSGServo2PitchReverse == CAMERASTABSETTINGS_ELEVONSSGSERVO2PITCHREVERSE_TRUE) {
elevon_pitch = 1.0 - elevon_pitch;
}
output = (elevon_pitch - elevon_roll) / 2;
CameraDesiredPitchOrServo2Set(&output);
}
else {
CameraDesiredPitchOrServo2Set(&output);
}
break;
case CAMERASTABSETTINGS_INPUT_YAW:
CameraDesiredYawSet(&output);