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Code Issues Releases Activity

OP-1696 uncrustify

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This commit is contained in:
abeck70 2015-03-20 21:44:24 +11:00
parent 88494e2745
commit a4ea1f008b
6 changed files with 29 additions and 30 deletions
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4
flight/modules/PathFollower/grounddrivecontroller.cpp
View File

@ -79,7 +79,7 @@ void GroundDriveController::Activate(void)
mActive = true;
SettingsUpdated();
controlNE.Activate();
mMode = pathDesired->Mode;
mMode = pathDesired->Mode;
}
}
@ -194,7 +194,7 @@ void GroundDriveController::updatePathVelocity(float kFF)
velocityDesired.Down = 0.0f;
// update pathstatus
pathStatus->error = progress.error;
pathStatus->error = progress.error;
pathStatus->fractional_progress = progress.fractional_progress;
// FOLLOWVECTOR: desired velocity vector
pathStatus->path_direction_north = progress.path_vector[0];

18
flight/modules/PathFollower/pidcontroldown.cpp
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@ -105,11 +105,11 @@ void PIDControlDown::UpdateParameters(float kp, float ki, float kd, float beta,
float Tf = Td / N;
if (ki < 1e-6f) {
// Avoid Ti being infinite
Ti = 1e6f;
// Tt antiwindup time constant - we don't need antiwindup with no I term
Tt = 1e6f;
kt = 0.0f;
// Avoid Ti being infinite
Ti = 1e6f;
// Tt antiwindup time constant - we don't need antiwindup with no I term
Tt = 1e6f;
kt = 0.0f;
}
if (kd < 1e-6f) {
@ -118,10 +118,10 @@ void PIDControlDown::UpdateParameters(float kp, float ki, float kd, float beta,
}
if (beta > 1.0f) {
beta = 1.0f;
} else if (beta < 0.4f) {
beta = 0.4f;
}
beta = 1.0f;
} else if (beta < 0.4f) {
beta = 0.4f;
}
pid2_configure(&PID, kp, ki, kd, Tf, kt, dT, beta, mNeutral, mNeutral, -1.0f);
deltaTime = dT;

14
flight/modules/PathFollower/pidcontrolne.cpp
View File

@ -81,11 +81,11 @@ void PIDControlNE::UpdateParameters(float kp, float ki, float kd, float beta, fl
float Tf = Td / N;
if (ki < 1e-6f) {
// Avoid Ti being infinite
Ti = 1e6f;
// Tt antiwindup time constant - we don't need antiwindup with no I term
Tt = 1e6f;
kt = 0.0f;
// Avoid Ti being infinite
Ti = 1e6f;
// Tt antiwindup time constant - we don't need antiwindup with no I term
Tt = 1e6f;
kt = 0.0f;
}
if (kd < 1e-6f) {
@ -94,9 +94,9 @@ void PIDControlNE::UpdateParameters(float kp, float ki, float kd, float beta, fl
}
if (beta > 1.0f) {
beta = 1.0f;
beta = 1.0f;
} else if (beta < 0.4f) {
beta = 0.4f;
beta = 0.4f;
}
pid2_configure(&PIDvel[0], kp, ki, kd, Tf, kt, dT, beta, u0, 0.0f, 1.0f);

11
flight/modules/PathFollower/vtolbrakefsm.cpp
View File

@ -60,14 +60,14 @@ extern "C" {
// Private constants
#define TIMER_COUNT_PER_SECOND (1000 / vtolPathFollowerSettings->UpdatePeriod)
#define TIMER_COUNT_PER_SECOND (1000 / vtolPathFollowerSettings->UpdatePeriod)
#define BRAKE_FRACTIONALPROGRESS_STARTVELOCITYCHECK 0.95f
#define BRAKE_EXIT_VELOCITY_LIMIT 0.2f
VtolBrakeFSM::PathFollowerFSM_BrakeStateHandler_T VtolBrakeFSM::sBrakeStateTable[BRAKE_STATE_SIZE] = {
[BRAKE_STATE_INACTIVE] = { .setup = 0, .run = 0 },
[BRAKE_STATE_BRAKE] = { .setup = &VtolBrakeFSM::setup_brake, .run = &VtolBrakeFSM::run_brake },
[BRAKE_STATE_HOLD] = { .setup = 0, .run = 0 }
[BRAKE_STATE_INACTIVE] = { .setup = 0, .run = 0 },
[BRAKE_STATE_BRAKE] = { .setup = &VtolBrakeFSM::setup_brake, .run = &VtolBrakeFSM::run_brake },
[BRAKE_STATE_HOLD] = { .setup = 0, .run = 0 }
};
// pointer to a singleton instance
@ -192,7 +192,6 @@ void VtolBrakeFSM::setState(PathFollowerFSM_BrakeState_T newState, __attribute__
if (sBrakeStateTable[mBrakeData->currentState].setup) {
(this->*sBrakeStateTable[mBrakeData->currentState].setup)();
}
}
@ -215,7 +214,7 @@ void VtolBrakeFSM::setup_brake(void)
void VtolBrakeFSM::run_brake(uint8_t flTimeout)
{
// Brake mode end condition checks
// Brake mode end condition checks
bool exit_brake = false;
VelocityStateData velocityState;
PathSummaryData pathSummary;

6
flight/modules/PathFollower/vtolflycontroller.cpp
View File

@ -64,9 +64,9 @@ extern "C" {
#include "pidcontrolne.h"
// Private constants
#define DEADBAND_HIGH 0.10f
#define DEADBAND_LOW -0.10f
#define RTB_LAND_FRACTIONAL_PROGRESS_START_CHECKS 0.95f
#define DEADBAND_HIGH 0.10f
#define DEADBAND_LOW -0.10f
#define RTB_LAND_FRACTIONAL_PROGRESS_START_CHECKS 0.95f
#define RTB_LAND_NE_DISTANCE_REQUIRED_TO_START_LAND_SEQUENCE 2.0f
// pointer to a singleton instance

6
ground/openpilotgcs/src/plugins/opmap/widgetdelegates.h
View File

@ -36,9 +36,9 @@ class MapDataDelegate : public QItemDelegate {
Q_OBJECT
public:
typedef enum { MODE_GOTOENDPOINT = 0, MODE_FOLLOWVECTOR = 1, MODE_CIRCLERIGHT = 2, MODE_CIRCLELEFT = 3,
MODE_FIXEDATTITUDE = 8, MODE_SETACCESSORY = 9, MODE_DISARMALARM = 10, MODE_LAND = 11,
MODE_BRAKE = 12, MODE_VELOCITY = 13} ModeOptions;
typedef enum { MODE_GOTOENDPOINT = 0, MODE_FOLLOWVECTOR = 1, MODE_CIRCLERIGHT = 2, MODE_CIRCLELEFT = 3,
MODE_FIXEDATTITUDE = 8, MODE_SETACCESSORY = 9, MODE_DISARMALARM = 10, MODE_LAND = 11,
MODE_BRAKE = 12, MODE_VELOCITY = 13 } ModeOptions;
typedef enum { ENDCONDITION_NONE = 0, ENDCONDITION_TIMEOUT = 1, ENDCONDITION_DISTANCETOTARGET = 2,
ENDCONDITION_LEGREMAINING = 3, ENDCONDITION_BELOWERROR = 4, ENDCONDITION_ABOVEALTITUDE = 5,