diff --git a/flight/modules/PathFollower/grounddrivecontroller.cpp b/flight/modules/PathFollower/grounddrivecontroller.cpp index 0c7a6d0df..3397a630e 100644 --- a/flight/modules/PathFollower/grounddrivecontroller.cpp +++ b/flight/modules/PathFollower/grounddrivecontroller.cpp @@ -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]; diff --git a/flight/modules/PathFollower/pidcontroldown.cpp b/flight/modules/PathFollower/pidcontroldown.cpp index 6c2f960f8..568db3d72 100644 --- a/flight/modules/PathFollower/pidcontroldown.cpp +++ b/flight/modules/PathFollower/pidcontroldown.cpp @@ -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; diff --git a/flight/modules/PathFollower/pidcontrolne.cpp b/flight/modules/PathFollower/pidcontrolne.cpp index 745d84b1b..6cb871bea 100644 --- a/flight/modules/PathFollower/pidcontrolne.cpp +++ b/flight/modules/PathFollower/pidcontrolne.cpp @@ -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); diff --git a/flight/modules/PathFollower/vtolbrakefsm.cpp b/flight/modules/PathFollower/vtolbrakefsm.cpp index 37a8f6b1e..e9e47f889 100644 --- a/flight/modules/PathFollower/vtolbrakefsm.cpp +++ b/flight/modules/PathFollower/vtolbrakefsm.cpp @@ -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; diff --git a/flight/modules/PathFollower/vtolflycontroller.cpp b/flight/modules/PathFollower/vtolflycontroller.cpp index 82b0deaff..e76c09d54 100644 --- a/flight/modules/PathFollower/vtolflycontroller.cpp +++ b/flight/modules/PathFollower/vtolflycontroller.cpp @@ -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 diff --git a/ground/openpilotgcs/src/plugins/opmap/widgetdelegates.h b/ground/openpilotgcs/src/plugins/opmap/widgetdelegates.h index a3a6173f2..6b9af7c06 100644 --- a/ground/openpilotgcs/src/plugins/opmap/widgetdelegates.h +++ b/ground/openpilotgcs/src/plugins/opmap/widgetdelegates.h @@ -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,