diff --git a/flight/modules/AutoTune/autotune.c b/flight/modules/AutoTune/autotune.c index 1593a1b5e..1a3f1c794 100644 --- a/flight/modules/AutoTune/autotune.c +++ b/flight/modules/AutoTune/autotune.c @@ -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; diff --git a/flight/modules/Sensors/sensors.c b/flight/modules/Sensors/sensors.c index 6f418788a..a08e74b64 100644 --- a/flight/modules/Sensors/sensors.c +++ b/flight/modules/Sensors/sensors.c @@ -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) diff --git a/flight/pios/common/pios_mpu6000.c b/flight/pios/common/pios_mpu6000.c index ccf328da7..97daddd68 100644 --- a/flight/pios/common/pios_mpu6000.c +++ b/flight/pios/common/pios_mpu6000.c @@ -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); diff --git a/flight/pios/inc/pios_sensors.h b/flight/pios/inc/pios_sensors.h index 4397bc844..46789cfa5 100644 --- a/flight/pios/inc/pios_sensors.h +++ b/flight/pios/inc/pios_sensors.h @@ -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;