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Code Issues Releases Activity

Altitude.c: Indentation

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This commit is contained in:
James Cotton 2011-05-26 14:06:47 -05:00
parent eab8896f16
commit d4a0f55cb7
1 changed files with 30 additions and 30 deletions
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60
flight/Modules/Altitude/altitude.c
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@ -59,7 +59,7 @@ static int32_t alt_ds_temp = 0;
static int32_t alt_ds_pres = 0;
static int alt_ds_count = 0;
// Private functions
// Private functions
static void altitudeTask(void *parameters);
/**
@ -71,12 +71,12 @@ int32_t AltitudeInitialize()
// Start main task
xTaskCreate(altitudeTask, (signed char *)"Altitude", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_ALTITUDE, taskHandle);
// init down-sampling data
alt_ds_temp = 0;
alt_ds_pres = 0;
alt_ds_count = 0;
alt_ds_temp = 0;
alt_ds_pres = 0;
alt_ds_count = 0;
return 0;
}
@ -87,7 +87,7 @@ static void altitudeTask(void *parameters)
{
BaroAltitudeData data;
portTickType lastSysTime;
#if defined(PIOS_INCLUDE_HCSR04)
SonarAltitudeData sonardata;
int32_t value=0,timeout=5;
@ -96,7 +96,7 @@ static void altitudeTask(void *parameters)
PIOS_HCSR04_Trigger();
#endif
PIOS_BMP085_Init();
// Main task loop
lastSysTime = xTaskGetTickCount();
while (1)
@ -112,7 +112,7 @@ static void altitudeTask(void *parameters)
height_out = (height_out * (1 - coeff)) + (height_in * coeff);
sonardata.Altitude = height_out; // m/us
}
// Update the AltitudeActual UAVObject
SonarAltitudeSet(&sonardata);
timeout=5;
@ -130,38 +130,38 @@ static void altitudeTask(void *parameters)
xSemaphoreTake(PIOS_BMP085_EOC, portMAX_DELAY);
PIOS_BMP085_ReadADC();
alt_ds_temp += PIOS_BMP085_GetTemperature();
// Update the pressure data
PIOS_BMP085_StartADC(PressureConv);
xSemaphoreTake(PIOS_BMP085_EOC, portMAX_DELAY);
PIOS_BMP085_ReadADC();
alt_ds_pres += PIOS_BMP085_GetPressure();
if (++alt_ds_count >= alt_ds_size)
{
alt_ds_count = 0;
// Convert from 1/10ths of degC to degC
data.Temperature = alt_ds_temp / (10.0 * alt_ds_size);
alt_ds_temp = 0;
// Convert from Pa to kPa
data.Pressure = alt_ds_pres / (1000.0f * alt_ds_size);
alt_ds_pres = 0;
// Compute the current altitude (all pressures in kPa)
data.Altitude = 44330.0 * (1.0 - powf((data.Pressure / (BMP085_P0 / 1000.0)), (1.0 / 5.255)));
// Update the AltitudeActual UAVObject
BaroAltitudeSet(&data);
}
{
alt_ds_count = 0;
// Convert from 1/10ths of degC to degC
data.Temperature = alt_ds_temp / (10.0 * alt_ds_size);
alt_ds_temp = 0;
// Convert from Pa to kPa
data.Pressure = alt_ds_pres / (1000.0f * alt_ds_size);
alt_ds_pres = 0;
// Compute the current altitude (all pressures in kPa)
data.Altitude = 44330.0 * (1.0 - powf((data.Pressure / (BMP085_P0 / 1000.0)), (1.0 / 5.255)));
// Update the AltitudeActual UAVObject
BaroAltitudeSet(&data);
}
// Delay until it is time to read the next sample
vTaskDelayUntil(&lastSysTime, UPDATE_PERIOD / portTICK_RATE_MS);
}
}
/**
* @}
* @}
* @}
*/