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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 // Check how long since last update
thisSysTime = xTaskGetTickCount(); thisSysTime = xTaskGetTickCount();
// reuse dt in case of wraparound // reuse dt in case of wraparound
// todo (theothercliff thinks this might be needed): // todo:
// if dT actually matters... // if dT actually matters...
// fix it to know max value and subtract for currently correct dT on wrap // fix it to know max value and subtract for currently correct dT on wrap
if(thisSysTime > lastSysTime) if(thisSysTime > lastSysTime)
dT = (thisSysTime - lastSysTime) * (portTICK_RATE_MS * 0.001f); dT = (thisSysTime - lastSysTime) * (portTICK_RATE_MS * 0.001f);
lastSysTime = thisSysTime; lastSysTime = thisSysTime;

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

@ -161,11 +161,11 @@ static void attitudeUpdated(UAVObjEvent* ev)
(float)SAMPLE_PERIOD_MS; (float)SAMPLE_PERIOD_MS;
csd->lastSysTime = thisSysTime; csd->lastSysTime = thisSysTime;
// storage for elevon roll component before the pitch component has been generated // 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 // 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 // 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 // so we init it or turn the warning/error off for each compiler
float elevon_roll = 0.0; float elevon_roll = 0.0;
// process axes // process axes
for (uint8_t i = 0; i < CAMERASTABSETTINGS_INPUT_NUMELEM; i++) { 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); applyFeedForward(i, dT_millis, &attitude, &cameraStab);
#endif #endif
// bounding for elevon mixing occurs on the unmixed output // bounding for elevon mixing occurs on the unmixed output
// to limit the range of the mixed output you must limit the range // to limit the range of the mixed output you must limit the range
// of both the unmixed pitch and unmixed roll // of both the unmixed pitch and unmixed roll
float output = bound((attitude + csd->inputs[i]) / cameraStab.OutputRange[i], 1.0f); float output = bound((attitude + csd->inputs[i]) / cameraStab.OutputRange[i], 1.0f);
// set output channels // set output channels
switch (i) { switch (i) {
case CAMERASTABSETTINGS_INPUT_ROLL: case CAMERASTABSETTINGS_INPUT_ROLL:
// we are guaranteed that the iteration order of i is roll pitch yaw // we are guaranteed that the iteration order of i is roll pitch yaw
// for elevon mixing we simply grab the value for later use // for elevon mixing we simply grab the value for later use
if (cameraStab.GimbalType == CAMERASTABSETTINGS_GIMBALTYPE_ELEVONSSGYAWPITCHROLL) { if (cameraStab.GimbalType == CAMERASTABSETTINGS_GIMBALTYPE_ELEVONSSGYAWPITCHROLL) {
elevon_roll = output; elevon_roll = output;
} }
else { else {
CameraDesiredRollOrServo1Set(&output); CameraDesiredRollOrServo1Set(&output);
} }
break; break;
case CAMERASTABSETTINGS_INPUT_PITCH: case CAMERASTABSETTINGS_INPUT_PITCH:
// we are guaranteed that the iteration order of i is roll pitch yaw // 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 // for elevon mixing we use the value we previously grabbed and set both s1 and s2
if (cameraStab.GimbalType == CAMERASTABSETTINGS_GIMBALTYPE_ELEVONSSGYAWPITCHROLL) { if (cameraStab.GimbalType == CAMERASTABSETTINGS_GIMBALTYPE_ELEVONSSGYAWPITCHROLL) {
float elevon_pitch; float elevon_pitch;
elevon_pitch = output; elevon_pitch = output;
output = (elevon_pitch + elevon_roll) / 2; output = (elevon_pitch + elevon_roll) / 2;
CameraDesiredRollOrServo1Set(&output); CameraDesiredRollOrServo1Set(&output);
// elevon reversing works like this: // elevon reversing works like this:
// first use the normal reversing facilities to get servo 1 working in the correct direction // first use the normal reversing facilities to get servo 1 working in the correct direction
// for both roll and pitch // for both roll and pitch
// then use the new reversing switches to reverse servo 2 roll and/or pitch as needed // then use the new reversing switches to reverse servo 2 roll and/or pitch as needed
if (cameraStab.ElevonSSGServo2RollReverse == CAMERASTABSETTINGS_ELEVONSSGSERVO2ROLLREVERSE_TRUE) { if (cameraStab.ElevonSSGServo2RollReverse == CAMERASTABSETTINGS_ELEVONSSGSERVO2ROLLREVERSE_TRUE) {
elevon_roll = 1.0 - elevon_roll; elevon_roll = 1.0 - elevon_roll;
} }
if (cameraStab.ElevonSSGServo2PitchReverse == CAMERASTABSETTINGS_ELEVONSSGSERVO2PITCHREVERSE_TRUE) { if (cameraStab.ElevonSSGServo2PitchReverse == CAMERASTABSETTINGS_ELEVONSSGSERVO2PITCHREVERSE_TRUE) {
elevon_pitch = 1.0 - elevon_pitch; elevon_pitch = 1.0 - elevon_pitch;
} }
output = (elevon_pitch - elevon_roll) / 2; output = (elevon_pitch - elevon_roll) / 2;
CameraDesiredPitchOrServo2Set(&output); CameraDesiredPitchOrServo2Set(&output);
} }
else { else {
CameraDesiredPitchOrServo2Set(&output); CameraDesiredPitchOrServo2Set(&output);
} }
break; break;
case CAMERASTABSETTINGS_INPUT_YAW: case CAMERASTABSETTINGS_INPUT_YAW:
CameraDesiredYawSet(&output); CameraDesiredYawSet(&output);