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Code Issues Releases Activity

LP-340 uncrustify

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This commit is contained in:
Cliff Geerdes 2016-07-12 14:47:29 -04:00
parent f2f8d8e712
commit 69f1964b12
4 changed files with 31 additions and 31 deletions
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50
flight/modules/AutoTune/autotune.c
View File

@ -111,7 +111,7 @@ struct at_queued_data {
float u[3]; /* Actuator desired */
float throttle; /* Throttle desired */
uint32_t gyroStateCallbackTimestamp; /* PIOS_DELAY_GetRaw() time of GyroState callback */
uint32_t sensorReadTimestamp; /* PIOS_DELAY_GetRaw() time of sensor read */
uint32_t sensorReadTimestamp; /* PIOS_DELAY_GetRaw() time of sensor read */
};
@ -227,15 +227,15 @@ MODULE_INITCALL(AutoTuneInitialize, AutoTuneStart);
*/
static void AutoTuneTask(__attribute__((unused)) void *parameters)
{
float noise[3] = { 0 };
float dT_s = 0.0f;
float noise[3] = { 0 };
float dT_s = 0.0f;
uint32_t lastUpdateTime = 0; // initialization is only for compiler warning
uint32_t lastTime = 0.0f;
uint32_t measureTime = 0;
uint32_t updateCounter = 0;
uint32_t lastTime = 0.0f;
uint32_t measureTime = 0;
uint32_t updateCounter = 0;
enum AUTOTUNE_STATE state = AT_INIT;
bool saveSiNeeded = false;
bool savePidNeeded = false;
bool saveSiNeeded = false;
bool savePidNeeded = false;
// wait for the accessory values to stabilize
// otherwise they come up as zero, then change to their real value
@ -360,7 +360,7 @@ static void AutoTuneTask(__attribute__((unused)) void *parameters)
// we also save the new knob/toggle value for startup next time
// this avoids rewriting the PIDs at each startup
// because knob is unknown / not where it is expected / looks like knob moved
saveSiNeeded = true;
saveSiNeeded = true;
}
} else {
savePidDelay = 0;
@ -512,7 +512,7 @@ static void AutoTuneTask(__attribute__((unused)) void *parameters)
ProportionPidsSmoothToQuick();
savePidNeeded = true;
// mark these results as good in the log settings so they can be viewed in playback
u.systemIdentState.Complete = true;
u.systemIdentState.Complete = true;
SystemIdentStateCompleteSet(&u.systemIdentState.Complete);
// mark these results as good in the permanent settings so they can be used next flight too
// this is written to the UAVO below, outside of the ARMED and CheckSettings() checks
@ -580,14 +580,14 @@ static void AtNewGyroData(UAVObjEvent *ev)
}
}
q_item.gyroStateCallbackTimestamp = timestamp;
q_item.y[0] = q_item.y[0] * stabSettings.gyro_alpha + gyro.x * (1 - stabSettings.gyro_alpha);
q_item.y[1] = q_item.y[1] * stabSettings.gyro_alpha + gyro.y * (1 - stabSettings.gyro_alpha);
q_item.y[2] = q_item.y[2] * stabSettings.gyro_alpha + gyro.z * (1 - stabSettings.gyro_alpha);
q_item.u[0] = actuators.Roll;
q_item.u[1] = actuators.Pitch;
q_item.u[2] = actuators.Yaw;
q_item.throttle = actuators.Thrust;
q_item.gyroStateCallbackTimestamp = timestamp;
q_item.y[0] = q_item.y[0] * stabSettings.gyro_alpha + gyro.x * (1 - stabSettings.gyro_alpha);
q_item.y[1] = q_item.y[1] * stabSettings.gyro_alpha + gyro.y * (1 - stabSettings.gyro_alpha);
q_item.y[2] = q_item.y[2] * stabSettings.gyro_alpha + gyro.z * (1 - stabSettings.gyro_alpha);
q_item.u[0] = actuators.Roll;
q_item.u[1] = actuators.Pitch;
q_item.u[2] = actuators.Yaw;
q_item.throttle = actuators.Thrust;
q_item.sensorReadTimestamp = gyro.SensorReadTimestamp;
if (xQueueSend(atQueue, &q_item, 0) != pdTRUE) {
@ -668,9 +668,9 @@ static void InitSystemIdent(bool loadDefaults)
// (1.0f / PIOS_SENSOR_RATE) is gyro period
// the -1/10 makes it converge nicely, the other values make it converge the same way if the configuration is changed
// gyroReadTimeAverageAlphaAlpha is 0.9996 when the tuning duration is the default of 60 seconds
gyroReadTimeAverageAlphaAlpha = expapprox(-1.0f / PIOS_SENSOR_RATE / ((float)systemIdentSettings.TuningDuration/10.0f));
gyroReadTimeAverageAlphaAlpha = expapprox(-1.0f / PIOS_SENSOR_RATE / ((float)systemIdentSettings.TuningDuration / 10.0f));
if (!IS_REAL(gyroReadTimeAverageAlphaAlpha)) {
gyroReadTimeAverageAlphaAlpha = expapprox(-1.0f / 500.0f / (60/10)); // basically 0.9996
gyroReadTimeAverageAlphaAlpha = expapprox(-1.0f / 500.0f / (60 / 10)); // basically 0.9996
}
// 0.99999988f is as close to 1.0f as possible to make final average as smooth as possible
gyroReadTimeAverageAlpha = 0.99999988f;
@ -746,7 +746,7 @@ static void UpdateSystemIdentState(const float *X, const float *noise,
systemIdentSettings.Tau = u.systemIdentState.Tau;
memcpy(&systemIdentSettings.Beta, &u.systemIdentState.Beta, sizeof(SystemIdentSettingsBetaData));
systemIdentSettings.GyroReadTimeAverage = u.systemIdentState.GyroReadTimeAverage;
systemIdentSettings.SmoothQuickSetting = smoothQuickSetting;
systemIdentSettings.SmoothQuickSetting = smoothQuickSetting;
SystemIdentStateSet(&u.systemIdentState);
}
@ -807,7 +807,7 @@ static uint8_t CheckSettingsRaw()
}
// Check gyroReadTimeAverage
// Sanity check: CPU is too slow compared to gyro rate
if (gyroReadTimeAverage > (1.0f/PIOS_SENSOR_RATE)) {
if (gyroReadTimeAverage > (1.0f / PIOS_SENSOR_RATE)) {
retVal |= CPU_TOO_SLOW;
}
@ -888,7 +888,7 @@ static void ComputeStabilizationAndSetPidsFromDampAndNoise(float dampRate, float
float kpMax = 0.0f;
float betaMinLn = 1000.0f;
StabilizationBankRollRatePIDData volatile * rollPitchPid = NULL; // satisfy compiler warning only
StabilizationBankRollRatePIDData volatile *rollPitchPid = NULL; // satisfy compiler warning only
for (int i = 0; i < ((systemIdentSettings.CalculateYaw != SYSTEMIDENTSETTINGS_CALCULATEYAW_FALSE) ? 3 : 2); i++) {
float betaLn = SystemIdentStateBetaToArray(u.systemIdentState.Beta)[i];
@ -910,10 +910,10 @@ static void ComputeStabilizationAndSetPidsFromDampAndNoise(float dampRate, float
// point to one
// this pointer arithmetic no longer works as expected in a gcc 64 bit test program
// rollPitchPid = &(&stabSettingsBank.RollRatePID)[i];
if (i==0) {
if (i == 0) {
rollPitchPid = &stabSettingsBank.RollRatePID;
} else {
rollPitchPid = (StabilizationBankRollRatePIDData *) &stabSettingsBank.PitchRatePID;
rollPitchPid = (StabilizationBankRollRatePIDData *)&stabSettingsBank.PitchRatePID;
}
}
break;

8
flight/modules/Sensors/sensors.c
View File

@ -110,7 +110,7 @@ static const float temp_alpha_baro = TEMP_DT_BARO / (TEMP_DT_BARO + 1.0f / (2.0f
typedef struct {
// used to accumulate all samples in a task iteration
uint64_t timestamp; // sum of "PIOS_DELAY_GetRaw() times of sensor read" in this averaged set
Vector3i32 accum[2]; // summed 16 bit sensor values in this averaged set
Vector3i32 accum[2]; // summed 16 bit sensor values in this averaged set
int32_t temperature; // sum of 16 bit temperatures in this averaged set
uint32_t prev_timestamp; // to detect timer wrap around
uint16_t count; // number of sensor reads in this averaged set
@ -359,10 +359,10 @@ static void clearContext(sensor_fetch_context *sensor_context)
sensor_context->accum[i].y = 0;
sensor_context->accum[i].z = 0;
}
sensor_context->temperature = 0;
sensor_context->temperature = 0;
sensor_context->prev_timestamp = 0;
sensor_context->timestamp = 0LL;
sensor_context->count = 0;
sensor_context->timestamp = 0LL;
sensor_context->count = 0;
}
static void accumulateSamples(sensor_fetch_context *sensor_context, sensor_data *sample)

2
flight/pios/common/pios_mpu6000.c
View File

@ -598,7 +598,7 @@ static bool PIOS_MPU6000_HandleData(uint32_t gyro_read_timestamp)
const int16_t temp = GET_SENSOR_DATA(mpu6000_data, Temperature);
// Temperature in degrees C = (TEMP_OUT Register Value as a signed quantity)/340 + 36.53
queue_data->temperature = 3653 + (temp * 100) / 340;
queue_data->timestamp = gyro_read_timestamp;
queue_data->timestamp = gyro_read_timestamp;
BaseType_t higherPriorityTaskWoken;
xQueueSendToBackFromISR(dev->queue, (void *)queue_data, &higherPriorityTaskWoken);

2
flight/pios/inc/pios_sensors.h
View File

@ -83,7 +83,7 @@ typedef struct PIOS_SENSORS_3Axis_SensorsWithTemp {
} PIOS_SENSORS_3Axis_SensorsWithTemp;
typedef struct PIOS_SENSORS_1Axis_SensorsWithTemp {
float sample; // sample
float sample; // sample
float temperature; // Degrees Celsius
} PIOS_SENSORS_1Axis_SensorsWithTemp;