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Code Issues Releases Activity

uncrustification

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This commit is contained in:
Corvus Corax 2014-01-18 00:32:50 +01:00
parent 4cc453efb1
commit 91d5a865da
3 changed files with 22 additions and 23 deletions
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2
flight/modules/ManualControl/manualcontrol.c
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@ -358,7 +358,7 @@ static void manualControlTask(__attribute__((unused)) void *parameters)
AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_WARNING); AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_WARNING);
} }
} }
cmd.FlightModeSwitchPosition = (uint8_t) 255; cmd.FlightModeSwitchPosition = (uint8_t)255;
} else if (valid_input_detected) { } else if (valid_input_detected) {
AlarmsClear(SYSTEMALARMS_ALARM_MANUALCONTROL); AlarmsClear(SYSTEMALARMS_ALARM_MANUALCONTROL);

41
flight/modules/Stabilization/stabilization.c
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@ -77,7 +77,7 @@
#define FAILSAFE_TIMEOUT_MS 30 #define FAILSAFE_TIMEOUT_MS 30
// number of flight mode switch positions // number of flight mode switch positions
#define NUM_FMS_POSITIONS 6 #define NUM_FMS_POSITIONS 6
// The PID_RATE_ROLL set is used by Rate mode and the rate portion of Attitude mode // The PID_RATE_ROLL set is used by Rate mode and the rate portion of Attitude mode
// The PID_RATE set is used by the attitude portion of Attitude mode // The PID_RATE set is used by the attitude portion of Attitude mode
@ -99,19 +99,19 @@ float weak_leveling_kp = 0;
uint8_t weak_leveling_max = 0; uint8_t weak_leveling_max = 0;
bool lowThrottleZeroIntegral; bool lowThrottleZeroIntegral;
bool lowThrottleZeroAxis[MAX_AXES]; bool lowThrottleZeroAxis[MAX_AXES];
float vbar_decay = 0.991f; float vbar_decay = 0.991f;
struct pid pids[PID_MAX]; struct pid pids[PID_MAX];
int cur_flight_mode = -1; int cur_flight_mode = -1;
static uint8_t rattitude_anti_windup; static uint8_t rattitude_anti_windup;
static float cruise_control_min_throttle; static float cruise_control_min_throttle;
static float cruise_control_max_throttle; static float cruise_control_max_throttle;
static uint8_t cruise_control_max_angle; static uint8_t cruise_control_max_angle;
static float cruise_control_max_power_factor; static float cruise_control_max_power_factor;
static float cruise_control_power_trim; static float cruise_control_power_trim;
static int8_t cruise_control_inverted_power_switch; static int8_t cruise_control_inverted_power_switch;
static float cruise_control_neutral_thrust; static float cruise_control_neutral_thrust;
static uint8_t cruise_control_flight_mode_switch_pos_enable[NUM_FMS_POSITIONS]; static uint8_t cruise_control_flight_mode_switch_pos_enable[NUM_FMS_POSITIONS];
// Private functions // Private functions
@ -163,7 +163,7 @@ int32_t StabilizationStart()
int32_t StabilizationInitialize() int32_t StabilizationInitialize()
{ {
// stop the compile if the number of switch positions changes, but has not been changed here // stop the compile if the number of switch positions changes, but has not been changed here
PIOS_STATIC_ASSERT(NUM_FMS_POSITIONS == sizeof(((ManualControlSettingsData *)0)->FlightModePosition) / sizeof((((ManualControlSettingsData *)0)->FlightModePosition)[0]) ); PIOS_STATIC_ASSERT(NUM_FMS_POSITIONS == sizeof(((ManualControlSettingsData *)0)->FlightModePosition) / sizeof((((ManualControlSettingsData *)0)->FlightModePosition)[0]));
// Initialize variables // Initialize variables
StabilizationSettingsInitialize(); StabilizationSettingsInitialize();
@ -610,7 +610,7 @@ static void stabilizationTask(__attribute__((unused)) void *parameters)
// but without manually adjusting throttle // but without manually adjusting throttle
// do it here and all the various flight modes (e.g. Altitude Hold) can use it // do it here and all the various flight modes (e.g. Altitude Hold) can use it
if (flight_mode_switch_position < NUM_FMS_POSITIONS if (flight_mode_switch_position < NUM_FMS_POSITIONS
&& cruise_control_flight_mode_switch_pos_enable[flight_mode_switch_position] != (uint8_t) 0 && cruise_control_flight_mode_switch_pos_enable[flight_mode_switch_position] != (uint8_t)0
&& cruise_control_max_power_factor > 0.0001f) { && cruise_control_max_power_factor > 0.0001f) {
static uint8_t toggle; static uint8_t toggle;
static float factor; static float factor;
@ -639,7 +639,7 @@ static void stabilizationTask(__attribute__((unused)) void *parameters)
// factor in the power trim, no effect at 1.0, linear effect increases with factor // factor in the power trim, no effect at 1.0, linear effect increases with factor
factor = (factor - 1.0f) * cruise_control_power_trim + 1.0f; factor = (factor - 1.0f) * cruise_control_power_trim + 1.0f;
// if inverted and they want negative boost // if inverted and they want negative boost
if (angle > 90.0f && cruise_control_inverted_power_switch == (int8_t) -1) { if (angle > 90.0f && cruise_control_inverted_power_switch == (int8_t)-1) {
factor = -factor; factor = -factor;
// as long as throttle is getting reversed // as long as throttle is getting reversed
// we may as well do pitch and yaw for a complete "invert switch" // we may as well do pitch and yaw for a complete "invert switch"
@ -650,8 +650,7 @@ static void stabilizationTask(__attribute__((unused)) void *parameters)
} }
// also don't adjust throttle if <= 0, leaves neg alone and zero throttle stops motors // also don't adjust throttle if <= 0, leaves neg alone and zero throttle stops motors
if (actuatorDesired.Throttle > cruise_control_min_throttle) if (actuatorDesired.Throttle > cruise_control_min_throttle) {
{
// quad example factor of 2 at hover power of 40%: (0.4 - 0.0) * 2.0 + 0.0 = 0.8 // quad example factor of 2 at hover power of 40%: (0.4 - 0.0) * 2.0 + 0.0 = 0.8
// CP heli example factor of 2 at hover stick of 60%: (0.6 - 0.5) * 2.0 + 0.5 = 0.7 // CP heli example factor of 2 at hover stick of 60%: (0.6 - 0.5) * 2.0 + 0.5 = 0.7
actuatorDesired.Throttle = (actuatorDesired.Throttle - cruise_control_neutral_thrust) * factor + cruise_control_neutral_thrust; actuatorDesired.Throttle = (actuatorDesired.Throttle - cruise_control_neutral_thrust) * factor + cruise_control_neutral_thrust;
@ -928,7 +927,7 @@ static void SettingsUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
} }
// Compute time constant for vbar decay term based on a tau // Compute time constant for vbar decay term based on a tau
vbar_decay = expf(-fakeDt / settings.VbarTau); vbar_decay = expf(-fakeDt / settings.VbarTau);
// force flight mode update // force flight mode update
cur_flight_mode = -1; cur_flight_mode = -1;
@ -936,13 +935,13 @@ static void SettingsUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
// Rattitude flight mode anti-windup factor // Rattitude flight mode anti-windup factor
rattitude_anti_windup = settings.RattitudeAntiWindup; rattitude_anti_windup = settings.RattitudeAntiWindup;
cruise_control_min_throttle = (float) settings.CruiseControlMinThrottle / 100.0f; cruise_control_min_throttle = (float)settings.CruiseControlMinThrottle / 100.0f;
cruise_control_max_throttle = (float) settings.CruiseControlMaxThrottle / 100.0f; cruise_control_max_throttle = (float)settings.CruiseControlMaxThrottle / 100.0f;
cruise_control_max_angle = settings.CruiseControlMaxAngle; cruise_control_max_angle = settings.CruiseControlMaxAngle;
cruise_control_max_power_factor = settings.CruiseControlMaxPowerFactor; cruise_control_max_power_factor = settings.CruiseControlMaxPowerFactor;
cruise_control_power_trim = settings.CruiseControlPowerTrim / 100.0f; cruise_control_power_trim = settings.CruiseControlPowerTrim / 100.0f;
cruise_control_inverted_power_switch = settings.CruiseControlInvertedPowerSwitch; cruise_control_inverted_power_switch = settings.CruiseControlInvertedPowerSwitch;
cruise_control_neutral_thrust = (float) settings.CruiseControlNeutralThrust / 100.0f; cruise_control_neutral_thrust = (float)settings.CruiseControlNeutralThrust / 100.0f;
memcpy( memcpy(
cruise_control_flight_mode_switch_pos_enable, cruise_control_flight_mode_switch_pos_enable,

2
ground/openpilotgcs/src/plugins/uavobjectwidgetutils/configtaskwidget.h
View File

@ -194,7 +194,7 @@ private:
QString objectName; QString objectName;
QString fieldName; QString fieldName;
QString elementName; QString elementName;
int index; int index;
QString url; QString url;
buttonTypeEnum buttonType; buttonTypeEnum buttonType;
QList<int> buttonGroup; QList<int> buttonGroup;